CN110428692A

CN110428692A - A kind of intelligent driving emulation mode, system, electronic equipment and storage medium

Info

Publication number: CN110428692A
Application number: CN201910641236.6A
Authority: CN
Inventors: 齐歆瑜; 赵璘; 高丽萍
Original assignee: Uisee Shanghai Automotive Technologies Ltd
Current assignee: Uisee Shanghai Automotive Technologies Ltd
Priority date: 2019-07-16
Filing date: 2019-07-16
Publication date: 2019-11-08

Abstract

The embodiment of the present disclosure is related to a kind of intelligent driving emulation mode, system, electronic equipment and storage medium, wherein, intelligent driving emulation mode is applied to intelligent driving analogue system, and intelligent driving analogue system, configured with emulation access interface, intelligent driving emulation mode includes: building simulating scenes and multiple Dummies；Emulation access request information is received by emulation access interface；Response emulates access request information and determines Dummy.In the embodiment of the present disclosure, intelligent driving analogue system, independently of intelligent driving system, provides the intelligent driving system that emulation access interface is adapted to different suppliers, has versatility without being embedded in intelligent driving system；In addition, the different Dummies in simulated environment can be controlled respectively by external multiple voltage inputs, so that different Dummies in simulated environment is had intelligence and interactivity, not will lead to emulation failure or distortion, and the emulation of more vehicle real time executions for Same Scene can be met.

Description

A kind of intelligent driving emulation mode, system, electronic equipment and storage medium

Technical field

The embodiment of the present disclosure is related to intelligent driving technical field, and in particular to a kind of intelligent driving emulation mode, system, intelligence Method, intelligent driving system, electronic equipment and the storage medium of energy control loop access intelligent driving analogue system.

Background technique

Intelligent driving analogue system can emulate vehicle, scene, pedestrian and sensor etc., be the research and development of intelligent driving system Foundation is provided with test, without to real vehicle and changing vehicle and having dependence, reduces the research and development cost and efficiency of research and development at initial stage.In addition, Intelligent driving analogue system can emulate multiple scenes, break through single outdoor scene bring limitation, be conducive to intelligent driving system Universality research and development and test.In addition, intelligent driving analogue system can be to avoid the various safety problems in real steering vectors, convenient for surveying Try the margin of safety of intelligent driving algorithm.

Simulation process is usual are as follows: selects vehicle, scene and a test case, includes to scene and correlation in test case The customization default control of dynamic object；Starting emulation and implementation of test cases, provide result judgement after being finished, indicate survey Example on probation passes through or failure.Traditional analogue system is embedded in intelligent driving system as submodule, intelligent driving system Research and development while can synchronize on demand research and development analogue system, achieve the purpose that quickly research and develop and test.

Since the implementation of the intelligent driving system of different suppliers is different, the analogue system of same supplier can not be fitted Intelligent driving system with different suppliers, therefore, traditional analogue system do not have versatility, lead to not formulate unification Unified testing scheme can not be disposed and be monitored to testing standard, and the intelligent driving of different suppliers can not be differentiated from emulation angle The superiority and inferiority of system.In addition, traditional analogue system is towards vehicle, and it is one-to-one relationship with intelligent driving system, i.e., it is primary imitative An intelligent driving system can only be run during true, is unable to satisfy the emulation of more vehicle real time executions for Same Scene, into And it is unable to satisfy the research and development and test of more vehicle Real-Time Scheduling technologies in the technology of intelligent driving cloud.In addition, traditional analogue system Simple route customization and order customization usually are provided to Dummy (pedestrian and vehicle etc.), or admission real data input in advance Analogue system is played back, and Dummy does not have intelligence and interactivity, may cause emulation failure or distortion.

The description of the above-mentioned discovery procedure to problem, is only used to facilitate the understanding of the technical scheme, and does not represent and holds Recognizing above content is the prior art.

Summary of the invention

In order to solve the problems, such as it is of the existing technology at least one, at least one embodiment of the present invention provides a kind of intelligence It can driving simulation method, system, the method for intelligent driving system access intelligent driving analogue system, intelligent driving system, electronics Equipment and storage medium.

In a first aspect, the embodiment of the present disclosure proposes a kind of intelligent driving emulation mode, it is applied to intelligent driving analogue system, The intelligent driving analogue system is configured with emulation access interface, which comprises

Construct simulating scenes and multiple Dummies；

Emulation access request information is received by the emulation access interface；

It responds the emulation access request information and determines Dummy.

Second aspect, the embodiment of the present disclosure also propose a kind of intelligent driving analogue system, the intelligent driving analogue system It include: internal analogue system and emulation access interface, the internal analogue system includes:

Construction unit, for constructing simulating scenes and multiple Dummies；

Receiving unit, for receiving emulation access request information by the emulation access interface；

Determination unit determines Dummy for responding the emulation access request information.

The third aspect, the embodiment of the present disclosure also propose a kind of side of intelligent driving system access intelligent driving analogue system Method, the intelligent driving analogue system is configured with emulation access interface, which comprises

Emulation access request information is sent by the emulation access interface；

Determine access module；

Intelligent driving control is carried out based on the access module.

Fourth aspect, the embodiment of the present disclosure also propose a kind of intelligent driving system, and intelligent driving analogue system is configured with imitative True access interface, the intelligent driving system include:

Transmission unit, for sending emulation access request information by the emulation access interface；

Determination unit, for determining access module；

Control unit, for carrying out intelligent driving control based on the access module.

5th aspect, the embodiment of the present disclosure also propose a kind of electronic equipment, comprising: processor and memory；

The processor is used to execute such as first aspect or third by the program or instruction of calling the memory to store The step of aspect the method.

6th aspect, the embodiment of the present disclosure also propose a kind of non-transient computer readable storage medium, which is characterized in that institute Non-transient computer readable storage medium storage program or instruction are stated, described program or instruction make computer execute such as first aspect Or the step of third aspect the method.

As it can be seen that intelligent driving analogue system is driven without being embedded in intelligence at least one embodiment of the embodiment of the present disclosure It sails in system, independently of intelligent driving system, the intelligent driving system that emulation access interface is adapted to different suppliers is provided, is had Versatility；In addition, the different Dummies in simulated environment can be controlled respectively by external multiple voltage inputs, make in simulated environment not Have intelligence and interactivity with Dummy, not will lead to emulation failure or distortion, and can meet for the more of Same Scene The emulation of vehicle real time execution.

Detailed description of the invention

It, below will be in embodiment or description of the prior art in order to illustrate more clearly of the technical solution of the embodiment of the present disclosure Required attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the invention Example is applied, for those of ordinary skill in the art, is also possible to obtain other drawings based on these drawings.

Fig. 1 is a kind of integrated stand composition for intelligent driving analogue system that the embodiment of the present disclosure provides；

Fig. 2 is a kind of block diagram for internal analogue system that the embodiment of the present disclosure provides；

Fig. 3 is a kind of block diagram for emulation AM access module that the embodiment of the present disclosure provides；

Fig. 4 is a kind of block diagram for intelligent driving system that the embodiment of the present disclosure provides；

Fig. 5 is the block diagram for a kind of electronic equipment that the embodiment of the present disclosure provides；

Fig. 6 is a kind of intelligent driving emulation mode flow chart that the embodiment of the present disclosure provides；

Fig. 7 is the method flow that a kind of intelligent driving system that the embodiment of the present disclosure provides accesses intelligent driving analogue system Figure.

Specific embodiment

To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawings and examples The present invention is described in further detail.It is understood that described embodiment is a part of the embodiments of the present invention, Instead of all the embodiments.Specific embodiment described herein is used only for explaining the present invention, rather than to limit of the invention It is fixed.Based on described the embodiment of the present invention, those of ordinary skill in the art's every other embodiment obtained is belonged to The scope of protection of the invention.

It should be noted that, in this document, the relational terms of such as " first " and " second " or the like are used merely to one A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it Between there are any actual relationship or orders.

For traditional analogue system do not have versatility, be unable to satisfy for Same Scene more vehicle real time executions it is imitative Very, Dummy does not have the problems such as intelligence and interactivity, and the embodiment of the present disclosure provides a kind of intelligent driving simulating scheme, realizes Intelligent driving analogue system have versatility, meet the emulation of more vehicle real time executions for Same Scene, in simulated environment not Have intelligence and interactivity and other effects with Dummy.

The embodiment of the present disclosure provide intelligent driving simulating scheme, emulation access interface is provided, as external voltage input with Bridge between intelligent driving analogue system accesses intelligent driving analogue system for external voltage input.In some embodiments, External voltage input can be for intelligent driving system, manual control etc., wherein manual control is for example by manual handles, artificial It drives vehicle or other interactive devices controls the Dummy in intelligent driving analogue system.In some embodiments, empty Quasi- body can be the movable objects such as pedestrian, vehicle.

Intelligent driving analogue system is without being embedded in intelligent driving system, independently of intelligent driving system, intelligent driving Any change (in addition to change emulates access interface) of analogue system is without changing intelligent driving system.

In some embodiments, the intelligent driving system of different suppliers can access intelligence by different emulation access interfaces Energy driving simulation system, intelligent driving analogue system can be adapted to the intelligent driving system of different suppliers, therefore have general Property, and then unified testing standard can be formulated, unified testing scheme is disposed and monitored, differentiates different supplies from emulation angle The superiority and inferiority of the intelligent driving system of quotient.

In some embodiments, multiple external voltage inputs can access intelligent driving by different emulation access interfaces simultaneously The same scene of analogue system is interacted, and each external voltage input controls a Dummy in scene respectively, is intelligently driven Sailing analogue system can not meet towards multiple intelligent driving systems for same field towards an intelligent driving system The emulation of more vehicle real time executions of scape, and then meet the research and development and survey of more vehicle Real-Time Scheduling technologies in the technology of intelligent driving cloud Examination.

In some embodiments, Dummy different in the same scene of intelligent driving analogue system can be by different outer The control of portion's voltage input, therefore, so that Dummy has intelligence, interacts in simulating scenes, the complicated traffic with reality Situation is consistent, reaches preferable simulated effect.Without providing simple route customization and order customization to Dummy, without thing First admission real data input analogue system is played back, and not will lead to emulation failure or distortion.

Fig. 1 is a kind of integrated stand composition for intelligent driving analogue system that the embodiment of the present disclosure provides.As shown in Figure 1, intelligence Energy driving simulation system 100 includes: internal analogue system 101 and emulation access interface 102.In some embodiments, it intelligently drives Sailing analogue system 100 includes multiple emulation access interfaces 102.Emulating access interface 102 can be with internal 101 communication link of analogue system It connects.

In some embodiments, emulation access interface 102 is as external voltage input 103 and intelligent driving analogue system 100 Between bridge, for external voltage input 103 access intelligent driving analogue system 100.

In some embodiments, emulation access interface 102 is, for example, application programming interface (Application Programming Interface, API).It will be understood by those skilled in the art that the same emulation access API is by different outer Portion's voltage input 103 is called, and parameter value is different when due to calling, thus, it is believed that foring different emulation access interfaces 102. In some embodiments, emulation access interface 102 can also be hardware interface, and the present embodiment does not limit the type of hardware interface, Those skilled in the art can select according to actual needs.

In some embodiments, multiple external voltage inputs 103 can access intelligence by different emulation access interfaces 102 simultaneously The same scene of energy driving simulation system 100 is interacted, and each external voltage input 103 controls a void in scene respectively Quasi- body.

In some embodiments, external voltage input can be intelligent driving system, manual control etc., wherein manual control Such as the Dummy in intelligent driving analogue system is carried out by manual handles, pilot steering vehicle or other interactive devices Control.In some embodiments, Dummy can be the movable objects such as pedestrian, vehicle.

In some embodiments, internal analogue system 101 is for constructing simulating scenes and multiple Dummies.In some implementations It may include the not movable object such as static facilities, barrier in simulating scenes in example.Construct simulating scenes and multiple Dummies Mode can continue to use the building mode of traditional analogue system, details are not described herein.

In some embodiments, internal analogue system 101 is also used to receive emulation access by emulation access interface 102 and ask Seek information.In some embodiments, emulation access request information is as transmitted by external voltage input 103.

In some embodiments, internal analogue system 101 is also used to respond emulation access request information and determines Dummy. In some embodiments, the type and mark that the Dummy to be controlled can be indicated in access request information are emulated, type is for example For vehicle, driving etc., in order to which internal analogue system 101 determines Dummy based on emulation access request information.Inside emulation system After system 101 determines Dummy, external voltage input 103 can control the Dummy.Internal analogue system 101 determines the mistake of Dummy It is the process that external voltage input 103 specifies Dummy to be controlled that journey, which can be understood as internal analogue system 101,.

In some embodiments, multiple emulation access interfaces 102 receive different emulation access request information respectively.It is internal Analogue system 101 responds different emulation access request information and determines different Dummies.

In some embodiments, one in multiple Dummies of building can be determined as outside by internal analogue system 101 The Dummy that voltage input 103 is controlled.More specifically, internal analogue system 101 is based on emulation access request information, determine virtual The type and mark of body；Based on type, a Dummy is selected from multiple Dummies of building.Wherein, the Dummy of selection Type be to emulate the type that indicates in access request information.Further, internal analogue system 101 establishes mark and selection Corresponding relationship between Dummy, to know the Dummy that external voltage input 103 is controlled.

In some embodiments, internal analogue system 101 can respond emulation access request information and directly in simulating scenes One new Dummy of middle building, the Dummy controlled as external voltage input 103.

In some embodiments, internal analogue system 101 response emulation access request information and after determining Dummy, it is external Voltage input 103 can send control information by emulation access interface 102, and internal analogue system 101 can be connect by emulation Mouthfuls 102 receive control information, and response control information and carry out respective handling.

In some embodiments, control information may include at least one:

Send control instruction, obtain Dummy status information, obtain simulating scenes in other Dummies status information, It obtains the status information of means of transportation in simulating scenes, installation sensor, the sensing data for reading Dummy, read Dummy Chassis-date, stop control.

Correspondingly, internal 101 response control information of analogue system and carry out respective handling, for example, if control information be hair Control instruction is sent, then control instruction is sent to corresponding Dummy by internal analogue system 101, to control Dummy traveling. In another example internal analogue system 101 obtains shape from corresponding Dummy if control information is to obtain the status information of Dummy State information, and external voltage input 103 is fed back to by emulating access interface 102.

In some embodiments, intelligent driving analogue system 100 can also configure electronic police decision-making system, and intelligent driving is imitative True system 100 can also obtain electronic police decision-making system to the judgement of different Dummies as a result, and the control to different Dummies Source sends corresponding judgement result.

In some embodiments, electronic police decision-making system to all dynamic objects traffic law level carry out judge and Score in violation of rules and regulations, as determine intelligent driving system whether the foundation of mature and reliable.

In some embodiments, electronic police decision-making system can realize differentiation of making a dash across the red light, hypervelocity capture, compacting line capture, The differentiation based on real traffic law such as collision liability identification.

In some embodiments, electronic police decision-making system uses unified judgement to the intelligent driving system of all accesses Standard, therefore intelligent driving analogue system 100 can carry out phase based on intelligent driving system of the criterion to all accesses Mutually relatively.Electronic police decision-making system and real world are close to sharing same set of evaluation method with real world, intelligent driving is imitative The simulation result of true system 100 can more be received by society.

Fig. 2 is a kind of block diagram for internal analogue system 200 that the embodiment of the present disclosure provides.In some embodiments, internal Analogue system 200 can be implemented as a part of inside analogue system 101 or internal analogue system 101 in Fig. 1.

As shown in Fig. 2, internal analogue system 200 can be divided into multiple units, for example, construction unit 201 receives list Member 202, determination unit 203 and some other unit that can be used for emulating.

Construction unit 201, for constructing simulating scenes and multiple Dummies.It in some embodiments, can in simulating scenes Including the not movable object such as static facilities, barrier.The mode of building simulating scenes and multiple Dummies can continue to use tradition Analogue system building mode, details are not described herein.

Receiving unit 202, for receiving emulation access request information by emulation access interface 202.In some embodiments In, emulation access request information is as transmitted by external voltage input.

Determination unit 203 determines Dummy for responding emulation access request information.In some embodiments, it emulates It can indicate the type and mark of the Dummy to be controlled in access request information, type is, for example, vehicle, driving etc., in order to Determination unit 203 determines Dummy based on emulation access request information.After determination unit 203 determines Dummy, external voltage input It can control the Dummy.It is external voltage input that determination unit 203, which determines that the process of Dummy can be understood as determination unit 203, Specify the process of Dummy to be controlled.

In some embodiments, multiple emulation access interfaces receive different emulation access request information respectively.It determines single Member 203 responds different emulation access request information and determines different Dummies.

In some embodiments, determination unit 203 can be by a determination in multiple Dummies that construction unit 201 constructs The Dummy controlled by external voltage input.More specifically, determination unit 203 is based on emulation access request information, determine virtual The type and mark of body；Based on type, a Dummy is selected from multiple Dummies that construction unit 201 constructs.Wherein, it selects The type for the Dummy selected is to emulate the type indicated in access request information.Further, it is determined that unit 203 establish mark with Corresponding relationship between the Dummy of selection, to know the Dummy that external voltage input is controlled.

In some embodiments, determination unit 203 can respond emulation access request information and directly in simulating scenes structure Build a new Dummy, the Dummy controlled as external voltage input.

In some embodiments, the response of determination unit 203 emulation access request information and after determining Dummy, outside control Source can send control information by emulation access interface, and internal analogue system 200 can receive control by emulation access interface Information, and response control information and carry out respective handling.

In some embodiments, control information may include at least one:

Correspondingly, internal 200 response control information of analogue system and carry out respective handling, for example, if control information be hair Control instruction is sent, then control instruction is sent to corresponding Dummy by internal analogue system 200, to control Dummy traveling. In another example internal analogue system 200 obtains shape from corresponding Dummy if control information is to obtain the status information of Dummy State information, and external voltage input is fed back to by emulating access interface.

In some embodiments, external voltage input is configured with emulation AM access module, for passing through intelligent driving analogue system The emulation access interface of configuration sends emulation access request information, accesses intelligent driving analogue system with request.

In some embodiments, emulation AM access module is accessed optionally for determining after accessing intelligent driving analogue system Mode.In some embodiments, determine that the mode of access module can determine to be artificial, or other automation determination sides Formula.

In some embodiments, access module can include: real vehicle mode, simulated sensor mode and emulation true value mode. Different intelligent driving control is carried out by different access modules, so that intelligent driving system accesses intelligence as external voltage input Emulation data can be more flexibly used after driving simulation system, without change intelligent driving system perceptual positioning function and Planning control function, to realize the research and development and test to intelligent driving algorithm.

In some embodiments, real vehicle mode is it is to be understood that intelligent driving system controls the mode of real vehicle, real vehicle mode Under, sensing data and chassis-date are all from real vehicle, and perceptual positioning function and planning control function are run simultaneously.

In some embodiments, simulated sensor mode is it is to be understood that sensing data and chassis-date are all from intelligence Can the Dummy that is controlled of control loop rather than real vehicle, perceptual positioning function and planning control function run simultaneously.

In some embodiments, true value mode is emulated it is to be understood that emulation true value directly provides for planning control function Required true value, under the mode, only planning control function is run, and perceptual positioning function is not run.

In some embodiments, emulation true value information for example including but be not limited to: intelligent driving system is controlled virtual The status information of other Dummies in the status information of body, simulating scenes, in simulating scenes means of transportation status information.

In some embodiments, the status information of Dummy is, for example, motion state true value and positions true value, including but not It is limited to the information such as present speed, current positioning coordinate and current pose Eulerian angles.

In some embodiments, the status information of other Dummies is, for example, other dynamics in simulating scenes in simulating scenes The current state true value list of object, including but not limited to type (vehicle, pedestrian etc.), size, speed and positioning etc..

In some embodiments, the status information of means of transportation is, for example, means of transportation in simulating scenes in simulating scenes State true value list, including but not limited to each lane line information, the current state of traffic lights, the current setting etc. of changeable driveway.

In some embodiments, emulation AM access module carries out intelligent driving control optionally for based on access module.

In some embodiments, emulation AM access module determines that access module is reading intelligent driving vehicle after real vehicle mode Sensing data and chassis-date, by sensing data and chassis-date be sent to intelligent driving system carry out perceptual positioning and Planning control generates control instruction, and control instruction is sent to vehicle bottom and executes system, realizes the control to vehicle driving System.

In some embodiments, emulation AM access module determines access module to be connect after simulated sensor mode by emulation Incoming interface reads the corresponding sensing data of Dummy that intelligent driving system is controlled and reads the chassis-date of Dummy.

In some embodiments, Dummy is vehicle, and the corresponding sensing data of Dummy is the sensing installed on vehicle The data of device.The chassis-date of Dummy for example including but be not limited to: when front driving wheel speed, current gear, current engine turn Fast, current front wheel slip angle etc..

In some embodiments, AM access module is emulated by the chassis-date of Dummy corresponding sensing data and Dummy It sends intelligent driving system and carries out perceptual positioning and planning control, generate control instruction.In turn, emulation AM access module passes through emulation Access interface sends control instruction, so that control instruction is handed down to corresponding Dummy by intelligent driving analogue system, and then controls Dummy traveling processed.

In some embodiments, it after emulation AM access module determines access module for emulation true value mode, is accessed by emulation Interface obtains emulation true value information.In some embodiments, emulation AM access module is sent to intelligent driving for true value information is emulated System carries out planning control, generates control instruction.In turn, emulation AM access module sends control instruction by emulation access interface, So that control instruction is handed down to corresponding Dummy by intelligent driving analogue system, and then control Dummy traveling.

In some embodiments it is contemplated that external voltage input can be configured as intelligent driving system, manual control etc., because This, after external voltage input is specific voltage input after being configured, can from multiple functions of emulation AM access module selected section or It all carries out using such as after external voltage input is configured as manual control, following function is used only in emulation AM access module: passing through It emulates access interface and sends emulation access request information, intelligent driving analogue system is accessed with request.And external voltage input is matched After being set to intelligent driving system, the repertoire for emulating AM access module be can be used.

Fig. 3 is a kind of block diagram for emulation AM access module 300 that the embodiment of the present disclosure provides.As shown in figure 3, emulation access mould Block 300 can be divided into multiple units, such as may include but be not limited to: transmission unit 301, determination unit 302 and control unit 303。

Transmission unit 301, the emulation access interface for being configured by intelligent driving analogue system are emulated to intelligent driving System sends emulation access request information, accesses intelligent driving analogue system with request.

Determination unit 302, for determining access module after accessing intelligent driving analogue system.In some embodiments, Determine that the mode of access module can determine to be artificial, or other automation methods of determination.

Control unit 303 is used to carry out intelligent driving control based on access module.

In some embodiments, control unit 303 determines access module to read intelligent driving vehicle after real vehicle mode Sensing data and chassis-date are sent to intelligent driving system and carry out perceptual positioning and rule by sensing data and chassis-date Control is drawn, control instruction is generated, and control instruction is sent to vehicle bottom and executes system, realizes the control to vehicle driving.

In some embodiments, control unit 303 determines that access module accesses after simulated sensor mode, to pass through emulation Interface reads the corresponding sensing data of Dummy that intelligent driving system is controlled and reads the chassis-date of Dummy.

In some embodiments, control unit 303 is by the chassis-date of Dummy corresponding sensing data and Dummy It is sent to intelligent driving system and carries out perceptual positioning and planning control, generate control instruction.In turn, control unit 303 passes through imitative True access interface sends control instruction, so that control instruction is handed down to corresponding Dummy by intelligent driving analogue system, in turn Control Dummy traveling.

In some embodiments, control unit 303 determines that access module is after emulating true value mode, to connect by emulation Mouth obtains emulation true value information.In some embodiments, control unit 303 is sent to intelligent driving system for true value information is emulated Planning control is carried out, control instruction is generated.In turn, control unit 303 sends control instruction by emulation access interface, so that intelligence Control instruction is handed down to corresponding Dummy by energy driving simulation system, and then controls Dummy traveling.

In some embodiments it is contemplated that external voltage input can be configured as intelligent driving system, manual control etc., because This, after external voltage input is specific voltage input after being configured, can from multiple functions of emulation AM access module selected section or It all carries out using such as after external voltage input is configured as manual control, transmission unit 301 is used only in emulation AM access module. And after external voltage input is configured as intelligent driving system, the repertoire for emulating AM access module can be used.

In some embodiments, the division for emulating each unit in AM access module 300 is only a kind of logical function partition, practical There may be another division manner when realization, such as transmission unit 301, determination unit 302 and control unit 303 can be implemented as One unit；Transmission unit 301, determination unit 302 or control unit 303 can also be divided into multiple subelements.It is understood that , each unit or subelement can be realized with the combination of electronic hardware or computer software and electronic hardware.These Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession Technical staff can use different methods to achieve the described function each specific application.

In some embodiments, if intelligent driving system is as external voltage input, the function of intelligent driving system is described It is as follows:

Intelligent driving system, for obtaining sensing data, and it is fixed based on sensing data progress environment sensing and vehicle Position, and path planning and decision, and the coordinates measurement based on planning are carried out based on environment sensing information and vehicle location information Vehicle control instruction, travels to control vehicle according to planning path.In some embodiments, intelligent driving system can be unworthy of Set in real vehicle, but in the form of software systems operation on an electronic device, generate vehicle control instruction after will not really under Hair.

In some embodiments, intelligent driving system is also used to access intelligent driving analogue system, imitative as intelligent driving The external voltage input of true system, controls a Dummy in the simulating scenes of intelligent driving analogue system.

In some embodiments, intelligent driving system, the emulation for being configured by intelligent driving analogue system connect Mouthful, emulation access request information is sent to intelligent driving analogue system, intelligent driving analogue system is accessed with request.

In some embodiments, intelligent driving system, for determining access module after accessing intelligent driving analogue system, And intelligent driving control is carried out based on access module.In some embodiments, determine that the mode of access module can be artificial true It is fixed, or other automation methods of determination.

In some embodiments, access module can include: real vehicle mode, simulated sensor mode and emulation true value mode. Different intelligent driving control is carried out by different access modules, so that intelligent driving system accesses intelligent driving analogue system Afterwards, emulation data are more flexibly used, without changing the perceptual positioning function and planning control function of intelligent driving system, from And realize the research and development and test to intelligent driving algorithm.

In some embodiments, intelligent driving system determines that access module is reading intelligent driving vehicle after real vehicle mode Sensing data and chassis-date, carry out perceptual positioning and planning control, generate control instruction.

In some embodiments, intelligent driving system determines access module to be connect after simulated sensor mode by emulation Incoming interface reads the corresponding sensing data of Dummy that intelligent driving system is controlled and reads the chassis-date of Dummy.

In some embodiments, chassis-date of the intelligent driving system based on sensing data and Dummy, is perceived Positioning and planning control generate control instruction, and send control instruction by emulation access interface, so that intelligent driving emulation system Control instruction is handed down to corresponding Dummy by system, and then controls Dummy traveling.

In some embodiments, it after intelligent driving system determines access module for emulation true value mode, is accessed by emulation Interface obtains emulation true value information.In some embodiments, intelligent driving system is based on emulation true value information, carries out planning control System generates control instruction, and sends control instruction by emulation access interface, so that intelligent driving analogue system is by control instruction It is handed down to corresponding Dummy, and then controls Dummy traveling.

Intelligent driving system obtains different data by different access modules, by emulation access interface, and then carries out Different intelligent driving control is realized perceptual positioning function, planning control function, real vehicle data source and emulation data Isolation between source, so that transparence of the data source to function, conducive to the research and development and test to intelligent driving algorithm.

In some embodiments, intelligent driving system can be for software systems, hardware system or software and hardware combining System.For example, intelligent driving system is the software systems run on an operating system, vehicle-mounted hardware system is to support operating system fortune Capable hardware system.

In some embodiments, intelligent driving system is also used to wirelessly communicate with cloud server, the various information of interaction. In some embodiments, intelligent driving system and cloud server by wireless communication networks (for example including but be not limited to GPRS The wireless communication networks such as network, Zigbee network, Wifi network, 3G network, 4G network, 5G network) it carries out wireless communication.

In some embodiments, cloud server is for making overall plans and coordinate management intelligent driving system.In some embodiments, Cloud server can be used for interacting with one or more intelligent driving systems, make overall plans and coordinate the multiple intelligent driving systems of management The scheduling etc. of system.

Fig. 4 is a kind of block diagram for intelligent driving system 400 that the embodiment of the present disclosure provides.As shown in figure 4, intelligent driving system System 400 can be divided into multiple modules, for example including but be not limited to: sensing module 401, planning module 402,403 and of control module Emulate AM access module 404.Emulation AM access module 404 can be realized as emulation AM access module 300 shown in Fig. 3 or emulation AM access module 300 a part.

Sensing module 401 is accomplished that aforementioned perceptual positioning function for carrying out environment sensing and positioning.

In some embodiments, sensing module 401 for the sensing data of acquisition, V2X (Vehicle to X, it is automobile-used Wireless communication) data such as data, high-precision map.

In some embodiments, sensing module 401 for based on acquisition sensing data, V2X (Vehicle to X, At least one of automobile-used wireless communication) data such as data, high-precision map, carry out environment sensing and positioning.

In some embodiments, sensing module 401 is realized for generating perceptual positioning information to barrier perception, camera shooting The travelable region recognition of head image and the positioning of vehicle etc..

Environment sensing (Environmental Perception) can be understood as the scene understanding ability for environment, example Such as the position of barrier, the detection of road sign/label, the semantic classification of the data such as pedestrian/vehicle detection.

In some embodiments, a variety of sensings such as fusion camera, laser radar, millimetre-wave radar can be used in environment sensing The data of device carry out environment sensing.

Positioning (Localization) belongs to a part of perception, is position of the determining intelligent driving vehicle relative to environment Ability.

Positioning can be used: GPS positioning, and for the positioning accuracy of GPS in tens of rice to a centimetre rank, positioning accuracy is high；Positioning is also The localization method of fusion GPS and inertial navigation system (Inertial Navigation System) can be used.Positioning can also adopt With SLAM (Simultaneous Localization And Mapping, synchronous superposition), the target of SLAM is Construct map while positioned using the map, SLAM by utilization it has been observed that environmental characteristic determine current vehicle Position and Current observation feature position.

V2X is the key technology of intelligent transport system, so that energy between vehicle and vehicle, vehicle and base station, base station and base station Enough communication, so that a series of traffic informations such as real-time road, road information, pedestrian information are obtained, raising intelligent driving safety, Reduce congestion, improve traffic efficiency, car entertainment information is provided etc..

High-precision map is geographical map used in intelligent driving field, compared with traditional map, the difference is that: 1) high-precision map includes a large amount of driving assistance information, such as relies on the accurate three-dimensional characterization of road network: including intersection Office and road sign position etc.；2) high-precision map further includes the meaning of different colours in a large amount of semantic information, such as report predicted traffic lamp, In another example the position that the rate limitation and left turn lane of instruction road start；3) high-precision map can reach the essence of Centimeter Level Degree, it is ensured that the safety traffic of intelligent driving vehicle.

Planning module 402 is used for the perceptual positioning information generated based on perceptual positioning module, carries out path planning and decision.

In some embodiments, planning module 402 is used for the perceptual positioning information generated based on perceptual positioning module, and ties At least one of data such as V2X data, high-precision map are closed, path planning and decision are carried out.

In some embodiments, planning module 402 be used for planning path, decision: behavior (for example including but be not limited to Vehicle overtakes other vehicles, stops, detouring), vehicle course, car speed, the expectation acceleration of vehicle, desired steering wheel angle etc., it is raw At planning decision information.

Control module 403 is used for the programmed decision-making information generated based on planning module, carries out path trace and track following.

In some embodiments, control module 403 is used to generate vehicle bottom and executes the control instruction of system, and issues control System instruction so that vehicle bottom executes system control vehicle desirably route, such as by control steering wheel, brake with And throttle carries out horizontal and vertical control to vehicle.

In some embodiments, control module 403 is also used to calculate front wheel angle based on path tracking algorithm.

In some embodiments, the expected path curve in path tracking procedure is unrelated with time parameter, when tracing control, It assume that intelligent driving vehicle is at the uniform velocity advanced with present speed, so that driving path is leveled off to desired road with certain cost rule Diameter；And when track following, expected path curve and time and space are related, and require intelligent driving vehicle in the defined time It is interior to reach a certain reference path point preset.

Path trace is different from track following, without being bound by time-constrain, it is only necessary to track the phase within a certain error range Hope path.

Planning module 402 and control module 403 realize planning control function above-mentioned jointly.

Emulation AM access module 404 makes intelligent driving system 400 as intelligent driving for accessing intelligent driving analogue system The external voltage input of analogue system controls a Dummy in the simulating scenes of intelligent driving analogue system.

In some embodiments, the emulation that emulation AM access module 404 is used to configure by intelligent driving analogue system accesses Interface sends emulation access request information to intelligent driving analogue system, accesses intelligent driving analogue system with request.

In some embodiments, the type and mark that the Dummy to be controlled can be indicated in access request information are emulated, Type is, for example, vehicle, driving etc., in order to which intelligent driving analogue system determines Dummy based on emulation access request information.Intelligence After energy driving simulation system determines Dummy, intelligent driving system can control the Dummy.Intelligent driving analogue system determines It is the process that intelligent driving system specifies Dummy to be controlled that the process of Dummy, which can be understood as intelligent driving analogue system,.

In some embodiments, emulation AM access module 404 is used to determine access mould after accessing intelligent driving analogue system Formula, and intelligent driving control is carried out based on access module.In some embodiments, determine that the mode of access module can be artificial It determines, or other automation methods of determination.

In some embodiments, emulation AM access module 404 determines that access module is reading intelligent driving vehicle after real vehicle mode Sensing data and chassis-date, by sensing data and chassis-date be sent to sensing module 401 carry out perceptual positioning, And then so that planning module 402 and control module 403 is based on perceptual positioning result and carry out planning control, control instruction is generated, and will Control instruction is sent to vehicle bottom and executes system, realizes the control to vehicle driving.

In some embodiments, emulation AM access module 404 determines access module to pass through emulation after simulated sensor mode Access interface reads the corresponding sensing data of Dummy that intelligent driving system 400 is controlled and reads the chassis number of Dummy According to.

In some embodiments, AM access module 404 is emulated by the chassis of Dummy corresponding sensing data and Dummy Data are sent to sensing module 401 and carry out perceptual positioning, and then planning module 402 and control module 403 is made to be based on perceptual positioning As a result planning control is carried out, control instruction is generated.In turn, emulation AM access module 404 sends control by emulation access interface and refers to It enables, so that control instruction is handed down to corresponding Dummy by intelligent driving analogue system, and then controls Dummy traveling.

In some embodiments, emulation AM access module 404 determines that access module is after emulating true value mode, to connect by emulation Incoming interface obtains emulation true value information.In some embodiments, emulation AM access module 404 is sent to planning for true value information is emulated Module 402 and control module 403 carry out planning control, generate control instruction.In turn, emulation AM access module 404 is connect by emulation Incoming interface sends control instruction, so that control instruction is handed down to corresponding Dummy by intelligent driving analogue system, and then controls Dummy traveling.

In some embodiments, the division of each module is only a kind of logical function partition in intelligent driving system 400, practical There may be another division manner when realization, for example, the function of emulation AM access module 404 can be integrated into sensing module 401, planning In module 402 or control module 403；Any two or more than two modules also can be implemented as a module；Any one mould Block can also be divided into multiple submodule.It is understood that modules or submodule can be with electronic hardware or calculating The combination of machine software and electronic hardware is realized.These functions are implemented in hardware or software actually, depend on technology The specific application and design constraint of scheme.Professional technician can carry out each specific application to come using distinct methods Realize described function.

Fig. 5 is the structural schematic diagram for a kind of electronic equipment that the embodiment of the present disclosure provides.Electronic equipment can support intelligence to drive Sail the operation of system.

As shown in figure 5, electronic equipment include: at least one processor 501, at least one processor 502 and at least one Communication interface 503.Various components in electronic equipment are coupled by bus system 504.Communication interface 503, for Information transmission between external equipment.It is understood that bus system 504 is for realizing the connection communication between these components.Bus System 504 further includes power bus, control bus and status signal bus in addition in addition to including data/address bus.But for clear theory For the sake of bright, various buses are all designated as bus system 504 in Fig. 5.

It is appreciated that the memory 502 in the present embodiment can be volatile memory or nonvolatile memory, or can Including both volatile and non-volatile memories.

In some embodiments, memory 502 stores following element, and unit or data structure can be performed, or Their subset of person or their superset: operating system and application program.

Wherein, operating system, includes various system programs, such as ccf layer, core library layer, driving layer etc., for realizing Various basic businesses and the hardware based task of processing.Application program includes various application programs, such as media player (Media Player), browser (Browser) etc., for realizing various applied business.Realize what the embodiment of the present disclosure provided The program of " intelligent driving emulation mode " or " method of intelligent driving system access intelligent driving analogue system " may be embodied in In application program.

In the embodiments of the present disclosure, program or instruction that processor 501 is stored by calling memory 502, specifically, can To be the program or instruction stored in application program, processor 501 be used to execute embodiment of the present disclosure offer " intelligent driving is imitative The step of true method " or " method of intelligent driving system access intelligent driving analogue system " each embodiment.

" the intelligent driving emulation mode " or " intelligent driving system accesses intelligent driving emulation system that the embodiment of the present disclosure provides The method of system " can be applied in processor 501, or be realized by processor 501.Processor 501 can be a kind of integrated electricity Road chip, the processing capacity with signal.During realization, each step of the above method can be by processor 501 The integrated logic circuit of hardware or the instruction of software form are completed.Above-mentioned processor 501 can be general processor, number Signal processor (Digital Signal Processor, DSP), specific integrated circuit (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field Programmable Gate Array, FPGA) Either other programmable logic device, discrete gate or transistor logic, discrete hardware components.General processor can be Microprocessor or the processor are also possible to any conventional processor etc..

" the intelligent driving emulation mode " or " intelligent driving system accesses intelligent driving emulation system that the embodiment of the present disclosure provides The step of method of system ", can be embodied directly in hardware decoding processor and execute completion, or with the hardware in decoding processor And software unit combination executes completion.Software unit can be located at random access memory, and flash memory, read-only memory may be programmed read-only In the storage medium of this fields such as memory or electrically erasable programmable memory, register maturation.The storage medium is located at Memory 502, processor 501 reads the information in memory 502, in conjunction with the step of its hardware Method Of Accomplishment.

Fig. 6 is a kind of intelligent driving emulation mode flow chart that the embodiment of the present disclosure provides.This method is applied to intelligence and drives Analogue system is sailed, intelligent driving analogue system is configured with emulation access interface.

In some embodiments, intelligent driving analogue system may include multiple emulation access interfaces, and emulation access interface is made For the bridge between external voltage input and intelligent driving analogue system, intelligent driving analogue system is accessed for external voltage input.

In some embodiments, emulation access interface is, for example, application programming interface (Application Programming Interface, API).It will be understood by those skilled in the art that the same emulation access API is by different outer Portion's voltage input is called, and parameter value is different when due to calling, thus, it is believed that foring different emulation access interfaces.Some In embodiment, emulation access interface can also be hardware interface, and the present embodiment does not limit the type of hardware interface, art technology Personnel can select according to actual needs.

In some embodiments, emulation access API can be included at least:

(1) access request interface is emulated, for initiating access emulation application, the type of the Dummy manipulated needed for specifying (type) and id (mark), waits and obtains control.

(2) simulation control command interface, for sending control command to the Dummy controlled.To virtual vehicle Speech includes the information such as desired speed, expectation acceleration, expectation front wheel slip angle, accelerator and brake amount, expectation gear, lighting switch.It is right For virtual pedestrian, include translational velocity and direction, the information such as right-hand rotation of turning left.Related type and id is in emulation access request It is specified in interface, it is specified without repeating herein.

(3) Dummy state interface is obtained, for obtaining the status information of controlled Dummy.The state of Dummy is believed Breath for example, motion state true value and positioning true value, including but not limited to present speed, current positioning coordinate and current pose Europe Draw the information such as angle.

(4) dynamic object state interface is obtained for example, to emulate for the status information of other Dummies in simulating scenes The current state true value list of other dynamic objects in scene, including but not limited to type (vehicle, pedestrian etc.), size, speed With positioning etc..The status information of the Dummy of control is not included in the list.

(5) means of transportation state interface is obtained, for obtaining the status information of means of transportation in simulating scenes.Simulating scenes The status information of middle means of transportation is, for example, the state true value list of means of transportation in simulating scenes, including but not limited to each lane Line information, the current state of traffic lights, the current setting etc. of changeable driveway.

(6) sensor interface is installed, for installing sensor.More specifically, on one sensor to Dummy of installation.Peace Fill sensor interface designated mounting type (type), relative position (pose) and mount message (config), wherein type includes Monocular camera, binocular camera, fisheye camera, laser radar, ultrasonic radar, millimetre-wave radar, GPS etc. common intelligent driving Sensor used by system.Id is the example id under the type.Pose is position coordinates and the Euler of relative vehicle datum mark Angle.Config is the customized mount message of each sensor, for example laser radar can further specify that 16 lines or 32 lines etc..

(7) sensor data interface is read, for reading the sensing data of Dummy.Be appointed as sensor type and Sensor instance id under the type.

(8) read chassis-date interface, for reading the chassis-date of Dummy, for example including but be not limited to it is following at least One: when front driving wheel speed, current gear, current engine revolving speed, current front wheel slip angle etc..

(9) stop control interface, for stopping control.More specifically, stopping the control of corresponding Dummy, and exit imitative Very.

In some embodiments, multiple external voltage inputs can access intelligent driving by different emulation access interfaces simultaneously The same scene of analogue system is interacted, and each external voltage input controls a Dummy in scene respectively.

In some embodiments, external voltage input can be intelligent driving system, manual control etc., wherein manual control Such as the Dummy in intelligent driving analogue system is controlled by manual handles or other interactive devices.In some realities It applies in example, Dummy can be the movable objects such as pedestrian, vehicle.

As shown in fig. 6, intelligent driving emulation mode may include following steps 601 to 603:

601, intelligent driving analogue system building simulating scenes and multiple Dummies.In some embodiments, simulating scenes In may include the not movable object such as static facilities, barrier.The mode of building simulating scenes and multiple Dummies can be continued to use The building mode of traditional analogue system, details are not described herein.

602, intelligent driving analogue system receives emulation access request information by emulation access interface.In some embodiments In, emulation access request information is as transmitted by external voltage input.In some embodiments, multiple emulation access interfaces can divide Different emulation access request information is not received.

603, intelligent driving analogue system response emulates access request information and determines Dummy.In some embodiments, It can indicate the type and mark of the Dummy to be controlled in emulation access request information, type is, for example, vehicle, driving etc., with Dummy is determined based on emulation access request information convenient for intelligent driving analogue system.

In some embodiments, after intelligent driving analogue system determines Dummy, external voltage input can control this virtual Body.It is specified for external voltage input that intelligent driving analogue system determines that the process of Dummy can be understood as intelligent driving analogue system The process of Dummy to be controlled.

In some embodiments, intelligent driving analogue system responds different emulation access request information and determination is different Dummy.

In some embodiments, one in multiple Dummies of building can be determined as outside by intelligent driving analogue system The Dummy that voltage input is controlled.More specifically, intelligent driving analogue system is based on emulation access request information, Dummy is determined Type and mark；Based on type, a Dummy is selected from multiple Dummies of building.Wherein, the Dummy of selection Type is to emulate the type indicated in access request information.Further, intelligent driving analogue system establishes mark and selection Corresponding relationship between Dummy, to know the Dummy that external voltage input is controlled.

In some embodiments, intelligent driving analogue system can respond emulation access request information and directly in simulating scenes One new Dummy of middle building, the Dummy controlled as external voltage input.

In some embodiments, intelligent driving analogue system response emulation access request information and after determining Dummy, outside Portion's voltage input can send control information by emulation access interface, and intelligent driving analogue system can be connect by emulating access interface Receive control information, and response control information and carry out respective handling.

In some embodiments, control information may include at least one:

Correspondingly, intelligent driving analogue system response control information and carry out respective handling, for example, if control information be hair Control instruction is sent, then control instruction is sent to corresponding Dummy by intelligent driving analogue system, to control Dummy traveling. In another example intelligent driving analogue system is obtained from corresponding Dummy if control information is to obtain the status information of Dummy Status information, and external voltage input is fed back to by emulating access interface.

In some embodiments, intelligent driving analogue system can also configure electronic police decision-making system, intelligent driving emulation System can also obtain electronic police decision-making system to the judgement of different Dummies as a result, and sending to the voltage input of different Dummies Corresponding judgement result.

It should be noted that for the various method embodiments described above, for simple description, therefore, it is stated as a series of Combination of actions, but it will be appreciated by those skilled in the art that the embodiment of the present disclosure is not by the limit of described sequence of movement System, because some steps may be performed in other sequences or simultaneously according to the embodiment of the present disclosure (such as step 601 and 602 It can carry out simultaneously).In addition, it will be appreciated by those skilled in the art that embodiment described in this description belongs to optional implementation Example.

Fig. 7 is the method flow that a kind of intelligent driving system that the embodiment of the present disclosure provides accesses intelligent driving analogue system Figure.This method is applied to intelligent driving system.Intelligent driving analogue system is configured with emulation access interface.

In some embodiments, emulation access API can be included at least:

(7) sensor data interface is read, for reading the sensing data of Dummy, the type of specified sensor and should Sensor instance id under type.

As shown in fig. 7, the method for intelligent driving system access intelligent driving analogue system may include following steps 701 to 703:

701, intelligent driving system sends emulation access request information by emulation access interface.Intelligent driving system conduct The external voltage input of intelligent driving analogue system can control a Dummy in the simulating scenes of intelligent driving analogue system. In some embodiments, the emulation access interface that intelligent driving system is configured by intelligent driving analogue system, to intelligent driving Analogue system sends emulation access request information, accesses intelligent driving analogue system with request.

702, intelligent driving system determines access module.In some embodiments, determining the mode of access module can be It is artificial to determine, or other automation methods of determination.In some embodiments, access module can include: real vehicle mode is imitated True mode sensor and emulation true value mode.

703, intelligent driving system is based on access module and carries out intelligent driving control.

In some embodiments, intelligent driving system determines that access module is reading intelligent driving vehicle after real vehicle mode Sensing data and chassis-date, carry out perceptual positioning and planning control, generate control instruction, and control instruction is sent to Vehicle bottom executes system, realizes the control to vehicle driving.

The embodiment of the present disclosure also proposes a kind of non-transient computer readable storage medium, and the non-transient computer is readable to deposit Storage media stores program or instruction, and described program or instruction make computer execute such as " intelligent driving emulation mode " or " intelligently drive The step of each embodiment of the method for sailing system access intelligent driving analogue system ", to avoid repeated description, details are not described herein.

It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do There is also other identical elements in the process, method of element, article or device.

It will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments is wrapped Certain features for including rather than other feature, but the combination of the feature of different embodiments mean in the scope of the present invention it It is interior and form different embodiments.

It will be appreciated by those of skill in the art that the description to each embodiment all emphasizes particularly on different fields, do not have in some embodiment The part being described in detail, reference can be made to the related descriptions of other embodiments.

Although the embodiments of the invention are described in conjunction with the attached drawings, but those skilled in the art can not depart from this hair Various modifications and variations are made in the case where bright spirit and scope, such modifications and variations are each fallen within by appended claims Within limited range.

Claims

1. a kind of intelligent driving emulation mode, which is characterized in that be applied to intelligent driving analogue system, the intelligent driving emulation System configuration has emulation access interface, which comprises

Construct simulating scenes and multiple Dummies；

It responds the emulation access request information and determines Dummy.

2. the method according to claim 1, wherein responding the emulation access request information and determining virtual Body, comprising:

Based on the emulation access request information, the type and mark of Dummy are determined；

Based on the type, a Dummy is selected from the multiple Dummy；

Establish the corresponding relationship between the mark and the Dummy of selection.

3. the method according to claim 1, wherein responding the emulation access request information and determining virtual Body, comprising:

It responds the emulation access request information and constructs Dummy.

4. the method according to claim 1, wherein responding the emulation access request information and determining Dummy Afterwards, the method also includes:

Control information is received by the emulation access interface；

It responds the control information and carries out respective handling.

5. according to the method described in claim 4, it is characterized in that, the control information include at least one:

Control instruction, the status information for obtaining Dummy are sent, the status information of other Dummies in simulating scenes is obtained, obtains The status information of means of transportation, installation sensor, the sensing data for reading Dummy, the bottom for reading Dummy in simulating scenes Disk data stop control.

6. the method according to claim 1, wherein the emulation access interface be it is multiple, the method is also wrapped It includes:

Multiple emulation access interfaces receive different emulation access request information respectively；

It responds the different emulation access request information and determines different Dummies.

7. the method according to claim 1, wherein the intelligent driving analogue system is sentenced configured with electronic police Determine system, the method also includes:

The electronic police decision-making system is obtained to the judgement result of different Dummies；

Corresponding judgement result is sent to the voltage input of different Dummies.

8. a kind of intelligent driving analogue system, which is characterized in that the intelligent driving analogue system include: internal analogue system and Access interface is emulated, the internal analogue system includes:

Construction unit, for constructing simulating scenes and multiple Dummies；

9. a kind of method of intelligent driving system access intelligent driving analogue system, which is characterized in that the intelligent driving emulation System configuration has emulation access interface, which comprises

Determine access module；

Intelligent driving control is carried out based on the access module.

10. according to the method described in claim 9, it is characterized in that, the access module includes: real vehicle mode, emulation sensing Device mode and emulation true value mode.

11. according to the method described in claim 10, it is characterized in that, based on the access module carry out intelligent driving control, Include:

If the access module is real vehicle mode, the sensing data and chassis-date of intelligent driving vehicle are read；

Based on the sensing data and the chassis-date, perceptual positioning and planning control are carried out, generates control instruction；

The control instruction is sent to vehicle bottom and executes system.

12. according to the method described in claim 10, it is characterized in that, based on the access module carry out intelligent driving control, Include:

If the access module is simulated sensor mode, sensing data and reading are read by the emulation access interface The chassis-date of Dummy；

Chassis-date based on the sensing data and the Dummy carries out perceptual positioning and planning control, generates control Instruction；

The control instruction is sent by the emulation access interface.

13. according to the method described in claim 10, it is characterized in that, based on the access module carry out intelligent driving control, Include:

If the access module is emulation true value mode, emulation true value information is obtained by the emulation access interface；

Based on the emulation true value information, planning control is carried out, generates control instruction；

The control instruction is sent by the emulation access interface.

14. according to the method for claim 13, which is characterized in that the emulation true value information include it is following at least one:

The status information of other Dummies in the status information of Dummy, simulating scenes, in simulating scenes means of transportation state Information.

15. a kind of intelligent driving system, which is characterized in that intelligent driving analogue system is configured with emulation access interface, the intelligence Can control loop include:

Determination unit, for determining access module；

16. a kind of electronic equipment characterized by comprising processor and memory；

The processor is used to execute such as claim 1 to 7,9 to 14 by the program or instruction of calling the memory to store The step of any one the method.

17. a kind of non-transient computer readable storage medium, which is characterized in that the non-transient computer readable storage medium is deposited Program or instruction are stored up, described program or instruction make computer execute the step such as any one of claim 1 to 7,9 to 14 the method Suddenly.