CN109765803A - A kind of the simulation hardware test macro and method of the synchronic sky of the more ICU of autonomous driving vehicle - Google Patents
A kind of the simulation hardware test macro and method of the synchronic sky of the more ICU of autonomous driving vehicle Download PDFInfo
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Abstract
The present invention discloses the simulation hardware test macro and method of a kind of synchronic sky of the more ICU of autonomous driving vehicle.Test macro is divided into simulation layer, intelligent control unit (Intelligent Control Unit, ICU) layer and data transfer layer on the whole.Virtual environment model, sensor model, traffic participant model, the traffic flow model, vehicle dynamic model of simulation layer offer emulation testing；ICU layers are emulation testing object；Data transfer layer provides the high-performance processor of simulation layer and ICU layers of communication interface, the software of test monitoring and automatic test and the entire simulation process real-time of guarantee.Test method provides a set of construction method of virtual environment and the test method of the synchronic sky of more ICU needed for quickly generating test.Compared with prior art, the present invention has the advantages that synchronic sky of more ICU, the multistage Generation of simulating data of decision making-oriented planning system demand, the fast construction method of virtual test scene.
Description
Technical field
The present invention relates to the emulation testing fields of autonomous driving vehicle decision rule system, drive automatically more particularly, to one kind
Sail the simulation hardware test macro and method of the synchronic sky of the more ICU of automobile.
Background technique
In order to guarantee the safety of automatic driving vehicle exploitation, validity and sustainability, it is necessary to widely be developed
And test.However traditional unmanned drive test is costly and time consuming, has risk and is merely able to carry out under limited traffic scene
Test.In addition, some special screnes, such as extreme weather, sensor fault, road sections section damage etc. can not carry out anti-
Multiple test and reproduction.And nobody drives analogue system and then provides a kind of safely and effectively solution route for this problem.
Wherein, the hardware-in-the-loop test of automatic Pilot is also system development a part indispensable with verifying.
By simulated environment, the calculated result of bound fraction hardware system is tested, and has three aspect advantages.
1) compatibility and functional completeness that can enable software and hardware are verified；
2) in the case where researching and developing does not have prototype vehicle early period, subsystem module functional safety is verified in measurement at lower cost
Property；
3) the comprehensive test verifying of local subsystem, can be convenient and targetedly reach System Discrimination and error tracking
The purpose of positioning.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of autonomous driving vehicles
The simulation hardware test macro and method of more synchronic skies of ICU.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of simulation hardware test macro of the synchronic sky of the more ICU of autonomous driving vehicle, the emulation test system include emulation
Layer, ICU layers and data transfer layer, wherein the simulation layer, for environmental information needed for automatic Pilot emulation testing is provided,
Sensor information, traffic participant information and telecommunication flow information and vehicle dynamic model；It is ICU layers described, for providing
State object to be measured needed for emulation test system；The data transfer layer, for providing and the simulation layer and the ICU layer
Between communication interface and test monitoring and automatic test software, and be configured with processor, the data transfer layer, for passing
The information of defeated emulation platform and traffic simulation downloads the information of Vehicle dynamics to real-time processor to real-time processor,
By real-time processor by real-time information transmission to ICU layers, or ICU layers directly are transmitted directly to by simulation layer, and receive and
From ICU layers of decision rule information to real-time processor, circulation is formed.
Further, the simulation layer includes emulation platform, Vehicle dynamics, Traffic Flow Simulation Models, the ICU
Layer include vehicle bottom-up information and perception information input interface, decision-making module and vehicle control information output interface, it is described to
Surveying object is based on end-to-end decision rule system, the decision rule system based on perception fusion results and to be based on scene understanding
On the basis of advanced decision rule system intelligent control unit any of them object to be measured.Corresponding perception information input
Afterwards, it is transferred to decision-making module processing, vehicle control information is then transferred to data transfer layer, emulation platform by output interface
It include road network, road adjunct, building, illumination, weather, the model of simple traffic participant and sensor die for providing
Type；Vehicle dynamics are used to enhance the authenticity of emulation platform virtual car；Traffic Flow Simulation software is used for simcity
The operation conditions of traffic and public transport operation.
Further, the data transfer layer includes hardware components and software section, and the hardware components include locating in real time
Reason device and for the simulation layer and it is ICU layers described between the I/O interface that is communicated, the software section includes test and management
Tool.
Further, the emulation platform includes based on the open source emulation platform Carla of Unreal Engine 4 or commercialization
Automatic Pilot emulation platform Vires Test Drive, the Vehicle dynamics include using Matlab and Simulink as core
The kinetic model that the kinetic model or dynamics simulation software CarSim of the heart provide, the Traffic Flow Simulation Models include traffic
Flow model and the traffic model controlled by true driver.
Further, the traffic flow model includes open source Traffic Flow Simulation tool SUMO or commercial traffic stream emulation tool
VISSIM, the traffic model controlled by true driver are inputted the driving behavior of human driver by I/O interface
To the emulation platform.
Further, the test and management tool is Labview test platform, VeriStand test platform, ETAS survey
Try platform and dSPACE test platform any of them test and management tool.
The present invention also provides a kind of surveys of simulation hardware test macro using the synchronic sky of the more ICU of the autonomous driving vehicle
Method for testing, the test method include virtual environment building and testing process, comprising the following steps:
S1, cartographic information is imported by rapid modeling software in city by open source map software, to generate three-dimensional city scene；
S2, keep scene true using 3 d modeling software；
S3, the three-dimensional city scene of generation is imported into emulation platform using format converter tools；
S4, whole system is connected by the structure of the test macro, single or multiple intelligent controllers is connected to emulation
In system, and whether test data distribution is normal, carries out synchronic hollow testing；
S5, design and simulation test assignment design simultaneously load test environment, initialization test environment；
S6, start emulation testing, data transfer layer receives the information from simulation layer and perception information is transferred to ICU
Layer, or perception information is directly transferred to ICU layers by simulation layer；
Control information is transmitted back to data transfer layer again and calculated, and again passed posture information by data transfer layer by S7, ICU layers
It is back to simulation layer, and to visualize；
S8, step S6- step S7 is repeated.
Further, the open source map software in the step S1 includes OpenStreetMap, the city rapid modeling
Software includes CityEngine.
Further, the 3 d modeling software in the step S2 includes Pix4D and 3D WareHouse, the step S3
In format converter tools include MapGenerator and DataSmith.
Further, the synchronic hollow testing in the step S4 is included in the same emulation testing scene, there is multiple intelligence
Energy body is tested or is further introduced into jointly agency and tested jointly, the synchronic empty space-time one occurred for each behavior
It causes, and can interact, the intelligent body is intelligent control unit, and each intelligent body is able to achieve independent decision-making, the generation
Reason is the virtual vehicle controlled by human driver introduced by driving simulator.
Compared with prior art, the invention has the following advantages that
(1) the synchronic sky of more ICU: the inherent mechanism of real traffic can be deeply disclosed by analysis mixed traffic flow, is alleviated
Current traffic jam issue improves road traffic efficiency, improves safety.
(2) it the multistage Generation of simulating data of decision making-oriented planning system demand: is not needed for the test of the ICU of single type
It asks, facilitating decision making-oriented from planning system, different ICU are tested under the same test macro.
(3) fast construction method of virtual test scene: providing one can be used for test of the rapid build based on reality
The technology path of scene.
Detailed description of the invention
Fig. 1 is the hardware-in-the-loop test system construction drawing of the synchronic sky of the more ICU of autonomous driving vehicle；
Fig. 2 is the hardware-in-the-loop test embodiment of the method schematic diagram of the synchronic sky of the more ICU of autonomous driving vehicle.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is a part of the embodiments of the present invention, rather than whole embodiments.Based on this hair
Embodiment in bright, those of ordinary skill in the art's every other reality obtained without making creative work
Example is applied, all should belong to the scope of protection of the invention.
Embodiment
It is as shown in Figure 1 the test system structure figure of the corresponding embodiment of the present invention, includes simulation layer, intelligent control unit
(Intelligent Control Unit, ICU) layer and data transfer layer, simulation layer include emulation platform, automobile dynamics mould
Type, Traffic Flow Simulation Models, environmental information needed for automatic Pilot emulation testing is provided, sensor information, traffic participant information
And telecommunication flow information, vehicle dynamic model is provided, data transfer layer provides and the communication between simulation layer and ICU layers connects
Mouthful, and for providing the software of test monitoring and automatic test, and be equipped with high performance processor and guarantee simulation process
Real-time, including hardware components and software section, hardware components include real-time processor and are led to for simulation layer and ICU layers
The I/O interface of letter；Software section includes test and management tool, ICU layers include vehicle bottom-up information and perception information input interface,
Decision-making module and vehicle control information output interface are transferred to decision-making module processing after corresponding perception information input, then will
Vehicle control information is transferred to data transfer layer by output interface.
It is illustrated in figure 2 the test method schematic diagram of the corresponding embodiment of the present invention, first virtual environment is modeled, is used
Map OpenStreetMap export cartographic information increase income into city rapid modeling software CityEngine.In order to further right
True scene is simulated, it is also necessary to utilize low cost, high accuracy three-dimensional scene modeling means.Pix4D passes through control nothing
Man-machine acquisition is taken photo by plane data, the fine three-dimensional city of the generation that can be fast and automatically changed using the means that structure motion rebuilds SFM
Model, so as to substantially enhance the authenticity of simulated environment.What above-mentioned three-dimensional scene models can be supported by illusory engine
DataSmith tool formats, and imports in Carla.Then, needing will by the MapGenerator component of Carla
Road network data, which generates, has the OpenDrive formatted data of emulation testing road attribute to imported into Carla.
Then associative simulation software, including vehicle dynamics simulation software CarSim, Traffic Flow Simulation software are configured
VISSIM.The Vehicle dynamics of CarSim are downloaded to operation in real-time machine with Ethernet, pass through the interface in Carla
Allow CarSim that the pose information converting of vehicle is transmitted back to Carla；Enable VISSIM will by the interface in Carla
The pose information converting of vehicle is transmitted to Carla.
It next is exactly the hardware components of configuration data transport layer, the real-time machine including National Instruments
PXI, and the cabinet and I/O board that match therewith are equipped with the I/O board of fair amount to meet the synchronic hollow testing of more ICU
Demand.Be reconfigured test and management tool Veristand, Labview come configure whole system engineering, the real-time machine of management and monitoring and
I/O interface, and simplify the process that automatic test is set by patterned operation.
Wherein I/O board includes with CAN bus communication modes that information relevant to bottom vehicle in Carla such as vehicle is fast
Degree etc. and the telecommunication flow information of VISSIM are transmitted in real-time machine PXI, with ethernet communication mode by picture signal, laser radar
Signal etc. is transmitted in real-time machine PXI, and perception information is transferred to intelligent control unit with CAN bus and ethernet communication mode
And the control information or decision information of intelligent control unit are transmitted back to real-time machine PXI.Via the CarSim for being downloaded to real-time machine
Vehicle dynamics calculate, and automobile posture information is transmitted back to Carla and realizes visualization.
ICU to be tested is accessed, according to the I/O interface of ICU with test and management tool Labview to corresponding I/O
Board is adjusted configuration.According to testing requirement, the agency driven by human driver by driving simulator is accessed.
Whole emulation testing process is as follows:
Whether S1, test ICU data distribution are normal；
S2, passed through on the PC where preset communication interface connection automatic Pilot simulation software using respective cable
Position machine and PXI, PXI and ICU connect driving simulator and PXI；
S3, Carsim Vehicle dynamics are demarcated and initialized on host computer, and will by the RT interface of CarSim
Model downloads in real-time machine PXI；
S4, design and simulation test assignment, using VeriStand create testing engineering, configure simulation frequency, configure interface between
Communication protocol；
S5, it designs, build test static environment, including weather, road network, building etc., load entire test environment；Preliminary examination
Change dynamic traffic test object；It initializes traffic flow and the mankind drives agency；
S6, calibration simultaneously initialize information of vehicles, including vehicle mass, size in host computer etc., demarcate and initialize vehicle
Sensor information on, including sensor position, sensor type, sensor parameters etc.；
S7, start to carry out emulation testing, the Carla Python interface provided or C++ interface output environment perception letter are provided
Breath and body information, it is issued with special communication protocol, is transferred to by the PXI CAN interface provided and Ethernet interface
ICU,
Decision information or control information are transferred to by the decision rule system of S8, ICU by the CAN interface that PXI is provided
In CarSim model in PXI；
S9, CarSim calculate the pose information converting of tested vehicle in real-time machine PXI, tie mouth by the CAN of PXI
It is transmitted back to Carla；
S10, Carla realize simulating scenes according to the vehicle real-time pose variable quantity received from Carsim and VISSIM
Synchronized update；
S11, S4-S10 is repeated.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection scope subject to.
Claims (10)
1. a kind of simulation hardware test macro of the synchronic sky of the more ICU of autonomous driving vehicle, which is characterized in that the emulation test system
Including simulation layer, ICU layers and data transfer layer, wherein the simulation layer, for ring needed for providing automatic Pilot emulation testing
Border information, sensor information, traffic participant information and telecommunication flow information and vehicle dynamic model；It is ICU layers described, it is used for
Object to be measured needed for the emulation test system is provided；The data transfer layer, for providing and the simulation layer and described
The software of communication interface and test monitoring and automatic test between ICU layers, and it is configured with processor.
2. a kind of simulation hardware test macro of the synchronic sky of the more ICU of autonomous driving vehicle according to claim 1, feature
It is, the simulation layer includes emulation platform, Vehicle dynamics, Traffic Flow Simulation Models, and described ICU layers includes vehicle bottom
Layer information and perception information input interface, decision-making module and vehicle control information output interface, the object to be measured be based on
End-to-end decision rule system, the decision rule system based on perception fusion results and based on advanced on the basis of scene understanding
The intelligent control unit any of them object to be measured of decision rule system.
3. a kind of simulation hardware test macro of the synchronic sky of the more ICU of autonomous driving vehicle according to claim 1, feature
It is, the data transfer layer includes hardware components and software section, and the hardware components include real-time processor and for institute
State simulation layer and it is ICU layers described between the I/O interface that is communicated, the software section includes test and management tool.
4. a kind of simulation hardware test macro of the synchronic sky of the more ICU of autonomous driving vehicle according to claim 2, feature
It is, the emulation platform includes open source emulation platform Carla or commercial automatic Pilot emulation based on Unreal Engine 4
Platform Vires Test Drive, the Vehicle dynamics include using Matlab and Simulink as the kinetic simulation of core
The kinetic model that type or dynamics simulation software CarSim are provided, the Traffic Flow Simulation Models include traffic flow model and by true
The traffic model of real driver's control.
5. a kind of simulation hardware test macro of the synchronic sky of the more ICU of autonomous driving vehicle according to claim 4, feature
It is, the traffic flow model includes open source Traffic Flow Simulation tool SUMO or commercial traffic stream emulation tool VISSIM, described
The driving behavior of human driver is input to the emulation by I/O interface and put down by the traffic model controlled by true driver
Platform.
6. a kind of simulation hardware test macro of the synchronic sky of the more ICU of autonomous driving vehicle according to claim 3, feature
It is, the test and management tool is Labview test platform, VeriStand test platform, ETAS test platform and dSPACE
Test platform any of them test and management tool.
7. it is a kind of using as claim 1~6 its any one of as described in the synchronic sky of the more ICU of autonomous driving vehicle hardware imitate
The test method of true test macro, which comprises the following steps:
S1, cartographic information is imported by rapid modeling software in city by open source map software, to generate three-dimensional city scene；
S2, keep scene true using 3 d modeling software；
S3, the three-dimensional city scene of generation is imported into emulation platform using format converter tools；
S4, whole system is connected by the structure of the test macro, single or multiple intelligent controllers is connected to analogue system
In, and whether test data distribution is normal, carries out synchronic hollow testing；
S5, design and simulation test assignment design simultaneously load test environment, initialization test environment；
S6, starting emulation testing, data transfer layer receives the information from simulation layer and perception information is transferred to ICU layers, or
Perception information is directly transferred to ICU layers by simulation layer by person；
Control information is transmitted back to data transfer layer again and calculated, and is again transmitted back to posture information by data transfer layer by S7, ICU layers
Simulation layer, and to visualize；
S8, step S6- step S7 is repeated.
8. a kind of simulation hardware test macro of the synchronic sky of the more ICU of autonomous driving vehicle according to claim 7, feature
It is, the open source map software in the step S1 includes OpenStreetMap, and the city rapid modeling software includes
CityEngine。
9. a kind of simulation hardware test macro of the synchronic sky of the more ICU of autonomous driving vehicle according to claim 7, feature
It is, the 3 d modeling software in the step S2 includes Pix4D and 3D WareHouse, the format conversion in the step S3
Tool includes MapGenerator and DataSmith.
10. a kind of simulation hardware test macro of the synchronic sky of the more ICU of autonomous driving vehicle according to claim 7, special
Sign is that the synchronic hollow testing in the step S4 is included in the same emulation testing scene, have multiple intelligent bodies jointly into
Row is tested or is further introduced into agency and tested jointly, and the intelligent body is intelligent control unit, and the agency is by driving
Sail the virtual vehicle of simulator introducing controlled by human driver.
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| CN112146679A (en) * | 2019-06-28 | 2020-12-29 | 百度（美国）有限责任公司 | Flexible test board for improving sensor I/O coverage of autopilot platform |
| CN110414082A (en) * | 2019-07-09 | 2019-11-05 | 武汉乐庭软件技术有限公司 | A kind of construction method of automatic Pilot decision and control associative simulation model |
| CN110428692A (en) * | 2019-07-16 | 2019-11-08 | 驭势（上海）汽车科技有限公司 | A kind of intelligent driving emulation mode, system, electronic equipment and storage medium |
| CN110779730A (en) * | 2019-08-29 | 2020-02-11 | 浙江零跑科技有限公司 | L3-level automatic driving system testing method based on virtual driving scene vehicle on-ring |
| CN110647053A (en) * | 2019-09-19 | 2020-01-03 | 北京智行者科技有限公司 | Automatic driving simulation method and system |
| CN111027160A (en) * | 2019-11-20 | 2020-04-17 | 中山大学 | SUMO traffic simulation scene accurate construction method based on data conversion |
| CN111027160B (en) * | 2019-11-20 | 2024-05-14 | 中山大学 | SUMO traffic simulation scene accurate construction method based on data conversion |
| CN110865632A (en) * | 2019-11-25 | 2020-03-06 | 重庆长安新能源汽车科技有限公司 | Man-machine interaction testing method based on intelligent driving simulator |
| CN111267866A (en) * | 2020-01-13 | 2020-06-12 | 腾讯科技（深圳）有限公司 | Information processing method, information processing apparatus, information processing medium, and electronic device |
| CN113704947A (en) * | 2020-05-20 | 2021-11-26 | 上汽通用汽车有限公司 | Intelligent driving simulation system and method |
| CN111814308A (en) * | 2020-06-08 | 2020-10-23 | 同济大学 | Acceleration test system for automatic driving system |
| CN111814308B (en) * | 2020-06-08 | 2024-04-26 | 同济大学 | Acceleration test system for automatic driving system |
| CN111783230A (en) * | 2020-07-02 | 2020-10-16 | 北京赛目科技有限公司 | Simulation test method and device for automatic driving algorithm |
| CN112100856A (en) * | 2020-09-17 | 2020-12-18 | 上汽大众汽车有限公司 | Automatic driving joint simulation method based on multiple platforms |
| CN112100856B (en) * | 2020-09-17 | 2022-08-19 | 上汽大众汽车有限公司 | Automatic driving joint simulation method based on multiple platforms |
| CN112526893A (en) * | 2020-10-30 | 2021-03-19 | 长安大学 | Test system of intelligent automobile |
| CN112526893B (en) * | 2020-10-30 | 2024-04-02 | 长安大学 | Intelligent automobile's test system |
| WO2022099928A1 (en) * | 2020-11-10 | 2022-05-19 | 之江实验室 | Driver participation simulation test apparatus and method for driving software of unmanned vehicle |
| CN112464381A (en) * | 2020-11-27 | 2021-03-09 | 中汽研汽车检验中心（天津）有限公司 | Automatic simulation construction method for new energy vehicle performance |
| CN112464381B (en) * | 2020-11-27 | 2023-04-07 | 中汽研汽车检验中心（天津）有限公司 | Automatic simulation construction method for new energy vehicle performance |
| CN112904827A (en) * | 2021-01-18 | 2021-06-04 | 同济大学 | Unmanned virtual simulation test system for multiple ICUs |
| CN112904827B (en) * | 2021-01-18 | 2022-02-01 | 同济大学 | Unmanned virtual simulation test system for multiple ICUs |
| CN112883489A (en) * | 2021-02-05 | 2021-06-01 | 西藏宁算科技集团有限公司 | Automatic driving automobile simulation system |
| WO2022236754A1 (en) * | 2021-05-13 | 2022-11-17 | 吉林大学 | Mutli-driver-in-the-loop driving test platform |
| WO2023103205A1 (en) * | 2021-12-06 | 2023-06-15 | 江苏航天大为科技股份有限公司 | Software combination-based automatic driving system simulation method |
| CN114067062A (en) * | 2022-01-17 | 2022-02-18 | 深圳慧拓无限科技有限公司 | Method and system for simulating real driving scene, electronic equipment and storage medium |
| CN115047782A (en) * | 2022-05-31 | 2022-09-13 | 清华大学 | Joint simulation system architecture |
| CN115047782B (en) * | 2022-05-31 | 2024-04-19 | 清华大学 | Combined simulation system |
| CN115344503A (en) * | 2022-10-18 | 2022-11-15 | 深圳市城市交通规划设计研究中心股份有限公司 | Traffic flow simulation system and simulation method for automatic driving planning control test |
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Application publication date: 20190517 |