CN111458154A - System and method for testing human-vehicle-surrounding conflict scene based on automatic driving of whole vehicle - Google Patents
System and method for testing human-vehicle-surrounding conflict scene based on automatic driving of whole vehicle Download PDFInfo
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- CN111458154A CN111458154A CN202010249927.4A CN202010249927A CN111458154A CN 111458154 A CN111458154 A CN 111458154A CN 202010249927 A CN202010249927 A CN 202010249927A CN 111458154 A CN111458154 A CN 111458154A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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Abstract
The embodiment of the invention discloses a system and a method for testing a human-vehicle-around-vehicle conflict scene based on an automatic driving whole vehicle, wherein the system comprises the following steps: the simulation industrial personal computer sends the vehicle state information to the positioning sensing equipment; the positioning sensing equipment is used for sending the acquired state information of the participated objects to the simulation industrial personal computer; the simulation industrial personal computer is also used for transmitting the simulation sensor signals of the virtual vehicles in the updated virtual test scene to the automatic driving algorithm industrial personal computer; the automatic driving algorithm industrial personal computer is used for sending a control signal to a test vehicle and transmitting the state information of the vehicle after movement to the simulation industrial personal computer; and the simulation industrial personal computer obtains a human-vehicle conflict result and performs automatic driving performance test according to the human-vehicle conflict result. The scene test of human-vehicle conflict is carried out by acquiring the state information of real participators and the state information of test vehicles, so that the test scene is more real and richer, and the test requirement of automatic driving is met.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle traffic, in particular to a system and a method for testing a human-vehicle-surrounding conflict scene based on automatic driving of a whole vehicle.
Background
The whole vehicle in-loop test is to perform test certification on the intelligent networked vehicles based on a traffic scene, and fundamentally changes the research and development flow, method and standard of the traditional vehicle. The simulation test is a basic test method for accelerating the development of the intelligent networked automobile function prototype, is one of important means for accumulating the test mileage of the unmanned automobile, and can effectively test dangerous or unusual driving scenes.
The inventor finds that at least the following problems exist in the prior art: because the scenes that pedestrians and motor vehicles conflict are very frequent, and the commonly used participators aiming at the scenes that pedestrians and vehicles conflict in the existing automatic driving simulation test are dummy persons or persons created in simulation software, only simple scenes that pedestrians and vehicles conflict can be tested, and the test requirement of automatic driving cannot be met.
Disclosure of Invention
The embodiment of the invention provides a system and a method for testing a human-vehicle-surrounding-vehicle conflict scene based on automatic driving of a whole vehicle. In the process of carrying out the whole vehicle in-the-loop test on the test vehicle, the scene of human-vehicle conflict can be enriched and really restored, and the test requirement of automatic driving is met.
In a first aspect, an embodiment of the present invention provides a system for testing a vehicle-to-vehicle collision scenario around a person based on an automatic driving vehicle, including: the system comprises a test vehicle, a simulation industrial personal computer and an automatic driving algorithm industrial personal computer which are positioned in the test vehicle, and real participants wearing positioning sensing equipment; the simulation industrial personal computer is used for acquiring vehicle state information of a test vehicle and sending the vehicle state information to the positioning sensing equipment; the positioning sensing equipment is used for displaying the vehicle state information for the real participators to watch, acquiring the participator state information of the real participators and sending the participator state information to the simulation industrial personal computer; the simulation industrial personal computer is also used for updating the virtual test scene according to the vehicle state information and the participated object state information and transmitting the simulation sensor signal of the virtual vehicle in the updated virtual test scene to the automatic driving algorithm industrial personal computer; the automatic driving algorithm industrial personal computer is used for sending a control signal generated according to a simulation sensor signal to a test vehicle so that the test vehicle moves according to the control signal and transmitting the state information of the moved vehicle to the simulation industrial personal computer; the simulation industrial personal computer is also used for calibrating the virtual test scene according to the moving vehicle state information to obtain a human-vehicle conflict result, and carrying out automatic driving performance test according to the human-vehicle conflict result.
In a second aspect, an embodiment of the present invention further provides a method for testing a vehicle-to-vehicle collision scenario based on an entire vehicle with automatic driving, where the method includes: the simulation industrial personal computer obtains vehicle state information of a test vehicle and sends the vehicle state information to the positioning sensing equipment; the positioning sensing equipment displays the vehicle state information for the real participators to watch, acquires the participator state information of the real participators and sends the participator state information to the simulation industrial personal computer; the simulation industrial personal computer updates the virtual test scene according to the vehicle state information and the participated object state information, and transmits the simulation sensor signal of the virtual vehicle in the updated virtual test scene to the automatic driving algorithm industrial personal computer; the automatic driving algorithm industrial personal computer sends a control signal generated according to a simulation sensor signal to a test vehicle so that the test vehicle moves according to the control signal and transmits the state information of the moved vehicle to the simulation industrial personal computer; and the simulation industrial personal computer calibrates the virtual test scene according to the moving vehicle state information to obtain a human-vehicle conflict result, and performs automatic driving performance test according to the human-vehicle conflict result.
According to the technical scheme of the embodiment of the invention, the scene test of the man-vehicle conflict is carried out by acquiring the state information of the real participators and the state information of the test vehicle, so that the behavior of the participators in the scene of the man-vehicle conflict becomes real, the test scene is more real and rich, and the test requirement of automatic driving is met.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a test system based on an automatic driving whole vehicle in a human-vehicle-around collision scenario according to an embodiment of the present invention;
fig. 2 is a flowchart of a testing method based on a situation that an entire vehicle is in a human-vehicle-around collision scenario by automatic driving according to a second embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
Fig. 1 is a schematic structural diagram of a test system based on an automatic driving entire vehicle in a human-vehicle-around collision scenario, which includes: the system comprises a test vehicle 11, a simulation industrial personal computer 111 and an automatic driving algorithm industrial computer 112 which are positioned inside the test vehicle, and real participants wearing positioning sensing equipment 12.
The simulation industrial personal computer 111 is used for acquiring vehicle state information of a test vehicle and sending the vehicle state information to the positioning sensing equipment 12; the positioning sensing equipment 12 is used for displaying the vehicle state information for the real participant to watch, acquiring the participant state information of the real participant, and sending the participant state information to the simulation industrial personal computer 111; the simulation industrial personal computer 111 is further used for updating the virtual test scene according to the vehicle state information and the participated object state information, and transmitting a simulation sensor signal of the virtual vehicle in the updated virtual test scene to the automatic driving algorithm industrial personal computer 112; the automatic driving algorithm industrial personal computer 112 is used for sending a control signal generated according to the simulation sensor signal to the test vehicle so that the test vehicle moves according to the control signal and transmitting the state information of the moved vehicle to the simulation industrial personal computer; and the simulation industrial personal computer is also used for calibrating the virtual test scene according to the moving vehicle state information to obtain a human-vehicle conflict result and carrying out automatic driving performance test according to the human-vehicle conflict result.
Optionally, the simulation industrial personal computer 111 is further configured to construct a virtual test scenario, where the virtual test scenario includes a virtual vehicle that moves in real time with the test vehicle, and a virtual participant that moves in real time with the real participant.
Specifically, in the simulation industrial control opportunity in the embodiment, the test road, the test vehicle and the real participant in the real world are presented in an equal proportion by using the three-dimensional scene model, and the initial positions of the test vehicle and the real participant in the three-dimensional scene model are set, so that the virtual test scene is constructed. And the virtual vehicle constructed in the virtual test scene and the test vehicle in the real world move in real time, and the virtual participant constructed in the virtual test scene and the real participant in the real world also move in real time.
Optionally, the positioning sensing device includes Virtual Reality (VR) glasses with a high-precision positioning function.
It should be noted that the real participant in the present embodiment is specifically a pedestrian in the real world, and the present embodiment is described by taking a pedestrian as an example, but the specific number of pedestrians is not limited in the actual test scenario. And the test vehicle and the real participant are located in different sites in the real world, as shown in fig. 1, the real participant wearing the positioning sensing device, that is, the pedestrian wearing the VR glasses with the high-precision positioning function is located in the first site, and the test vehicle is located in the second site, and the first site and the second site are separated by a certain distance, so as to ensure the safety of the real pedestrian.
Optionally, the vehicle state information includes: vehicle position coordinates, speed, and heading angle.
Optionally, the participant status information includes: participant position coordinates.
Optionally, the simulation industrial personal computer specifically adopts a 5G communication network to send vehicle state information to the positioning sensing equipment so as to be watched by real participators; the simulation industrial personal computer specifically adopts a 5G communication network to receive participated object state information sent by the positioning sensing equipment.
Optionally, the simulation industrial personal computer is specifically configured to: according to the moving vehicle state information, automatically calibrating the virtual vehicle in the virtual test scene through a high-performance message queue communication technology to obtain a human-vehicle conflict result; and carrying out automatic driving performance test according to the result of the human-vehicle conflict.
Specifically, the simulation industrial personal computer in the present embodiment transmits vehicle state information acquired from the test vehicle to a positioning sensing device, for example, VR glasses having a high-precision positioning function. And particularly, the 5G communication network is adopted for transmission, so that the information transmission is more efficient. The VR glasses show the acquired vehicle state information in a picture form, so that pedestrians wearing the VR glasses can acquire the real state of a test vehicle according to the displayed picture and react in time, the VR glasses in the embodiment have a high-precision positioning function, so that the motion track of the pedestrians can be determined in time, the position coordinates of the pedestrians are acquired, the position coordinates of the pedestrians are sent to the simulation industrial personal computer through a 5G communication network, the simulation industrial personal computer calibrates the state of the virtual pedestrians in the virtual scene according to the position coordinates of the pedestrians, and real-time motion of the virtual pedestrians in the virtual test scene and the pedestrians in the real environment is kept.
The virtual vehicle in the virtual test scene is provided with a simulation sensor, the virtual test vehicle can sense the motion change of a virtual pedestrian through the simulation sensor so as to generate a simulation sensor signal, the simulation industrial personal computer transmits the simulation sensor signal of the virtual vehicle to the automatic driving algorithm industrial computer, the automatic driving algorithm industrial computer generates a control signal according to the simulation sensor signal and by utilizing an automatic driving algorithm, for example, the automatic driving algorithm industrial computer determines that the virtual pedestrian is positioned 20 meters in front of the virtual vehicle according to the simulation sensor signal, the generated control signal is brake, and the test vehicle can perform emergency braking after receiving the control signal of the brake.
It should be noted that the test vehicle transmits the moving vehicle state information to the simulation industrial personal computer after executing the command of the control signal, and the simulation industrial personal computer automatically calibrates the virtual vehicle in the virtual test scene through a high-performance message queue communication technology according to the moving vehicle state information, so that the virtual vehicle and the test vehicle move in real time to obtain a human-vehicle collision result; and carrying out automatic driving performance test according to the result of the human-vehicle conflict. In order to conveniently display the test result, only the scene whether people and vehicles collide with each other is tested. If the human-vehicle conflict result obtained after calibration is that the virtual vehicle and the virtual pedestrian in the virtual test scene do not collide, determining that the automatic driving performance test is passed; and if the virtual vehicle in the virtual test scene is determined to collide with the virtual pedestrian after calibration, determining that the automatic driving performance test is failed.
Optionally, the interior of the test vehicle further comprises a drive-by-wire module 114; the industrial personal computer with the automatic driving algorithm is specifically used for sending the control signal to the test vehicle through the line control module.
Optionally, the interior of the test vehicle further includes an Inertial Measurement Unit (IMU) 113 and a positioning module 115; the simulation industrial personal computer is specifically used for acquiring the speed and the course angle in the vehicle state information through the IMU; the simulator is specifically used for acquiring vehicle position coordinates in the vehicle state information through the positioning module.
The IMU and the positioning module transmit the position coordinates, the speed and the course angle of the vehicle to the simulation industrial personal computer through a Controller Area Network (CAN) bus.
It should be noted that the virtual pedestrian in this embodiment can move in real time with a pedestrian in the real world, so that the movement track of the virtual pedestrian in the virtual test scene is more real, the simulation sensor of the virtual vehicle in the virtual test scene can sense the movement change of the virtual pedestrian, the simulation industrial personal computer sends the simulation sensor signal to the automatic algorithm industrial computer, the automatic algorithm industrial computer sends the generated control signal to the test vehicle to control the test vehicle, the test vehicle can transmit the vehicle state information after movement to the simulation industrial computer, the simulation industrial computer automatically calibrates the virtual vehicle in the three-dimensional scene through a high-performance message queue communication technology, and tests the performance of the automatic driving algorithm through whether the virtual vehicle collides with the virtual pedestrian. .
According to the technical scheme of the embodiment of the invention, the scene test of the man-vehicle conflict is carried out by acquiring the state information of the real participators and the state information of the test vehicle, so that the behavior of the participators in the scene of the man-vehicle conflict becomes real, the test scene is more real and rich, and the test requirement of automatic driving is met.
Example two
Fig. 2 is a flowchart of a testing method based on an automatic driving whole vehicle in a human-vehicle-around-vehicle collision scenario according to a second embodiment of the present invention, where this embodiment is applied to the testing system based on an automatic driving whole vehicle in a human-vehicle-around-vehicle collision scenario in the foregoing embodiment, and the method of this embodiment specifically includes the following operations:
Optionally, the simulation industrial personal computer is further configured to construct a virtual test scene, where the preset virtual test scene includes a virtual vehicle that moves in real time with the test vehicle and a virtual participant that moves in real time with the real participant.
Optionally, the vehicle state information includes: vehicle position coordinates, speed, and heading angle.
Optionally, the interior of the test vehicle further includes an inertial measurement unit IMU and a positioning module; the simulation industrial personal computer is specifically used for acquiring the speed and the course angle in the vehicle state information through the IMU; the simulator is specifically used for acquiring vehicle position coordinates in the vehicle state information through the positioning module.
Optionally, the positioning sensing device includes VR glasses with positioning function.
Before the simulation industrial personal computer obtains the vehicle state information of the test vehicle, the test road, the test vehicle and the real participant in the real world are presented in an equal ratio mode through the three-dimensional scene model, and the initial positions of the test vehicle and the real participant in the three-dimensional scene model are set, so that the virtual test scene is constructed. And the virtual vehicle constructed in the virtual test scene and the test vehicle in the real world move in real time, and the virtual participant constructed in the virtual test scene and the real participant in the real world also move in real time.
And 102, displaying the vehicle state information by the positioning sensing equipment so as to be watched by real participators, acquiring the participator state information of the real participators, and sending the participator state information to the simulation industrial personal computer.
Optionally, the participant status information includes: participant position coordinates.
Optionally, the simulation industrial personal computer specifically adopts a 5G communication network to send vehicle state information to the positioning sensing equipment so as to be watched by real participators; the simulation industrial personal computer specifically adopts a 5G communication network to receive participated object state information sent by the positioning sensing equipment.
Specifically, the simulation industrial personal computer in the embodiment transmits the vehicle state information acquired from the test vehicle to the positioning sensing device, for example, VR glasses with a high-precision positioning function, and specifically, a 5G communication network is adopted for transmission, so that the information transmission is more efficient. The VR glasses show the acquired vehicle state information in a picture form, so that pedestrians wearing the VR glasses can acquire the real state of the test vehicle according to the displayed picture and can respond in time.
And 103, updating the virtual test scene by the simulation industrial personal computer according to the vehicle state information and the participated object state information, and transmitting the simulation sensor signal of the virtual vehicle in the updated virtual test scene to the automatic driving algorithm industrial personal computer.
Specifically, the simulation industrial personal computer in the embodiment calibrates the state of the virtual pedestrian in the virtual scene according to the position coordinate of the pedestrian, and keeps the real-time motion of the virtual pedestrian in the virtual test scene and the pedestrian in the real environment.
The virtual vehicles in the virtual test scene are provided with simulation sensors, the virtual test vehicles can sense the motion change of virtual pedestrians through the simulation sensors, so that simulation sensor signals are generated, and the simulation industrial personal computer transmits the simulation sensor signals of the virtual vehicles to the automatic driving algorithm industrial personal computer.
And step 104, the automatic driving algorithm industrial personal computer sends a control signal generated according to the simulation sensor signal to the test vehicle so that the test vehicle moves according to the control signal, and the moving vehicle state information is transmitted to the simulation industrial personal computer.
Optionally, the interior of the test vehicle further comprises a drive-by-wire module; the industrial personal computer with the automatic driving algorithm is specifically used for sending the control signal to the test vehicle through the line control module.
The industrial personal computer with the automatic driving algorithm generates a control signal according to the simulation sensor signal by using the automatic driving algorithm and sends the generated control signal to the test vehicle so as to control the test vehicle. The test vehicle can move according to the control signal, and the state information of the vehicle after moving is transmitted to the simulation industrial personal computer.
And 105, calibrating the virtual test scene by the simulation industrial personal computer according to the moving vehicle state information to obtain a human-vehicle conflict result, and performing automatic driving performance test according to the human-vehicle conflict result.
Specifically, the simulation industrial personal computer in the embodiment automatically calibrates the virtual vehicles in the virtual test scene through a high-performance message queue communication technology according to the moving vehicle state information so as to enable the virtual vehicles and the test vehicles to move in real time and obtain a man-vehicle collision result; and carrying out automatic driving performance test according to the result of the human-vehicle conflict. In order to conveniently display the test result, only the scene whether people and vehicles collide with each other is tested. If the human-vehicle conflict result obtained after calibration is that the virtual vehicle and the virtual pedestrian in the virtual test scene do not collide, determining that the automatic driving performance test is passed; and if the virtual vehicle in the virtual test scene is determined to collide with the virtual pedestrian after calibration, determining that the automatic driving performance test is failed.
According to the technical scheme of the embodiment of the invention, the scene test of the man-vehicle conflict is carried out by acquiring the state information of the real participators and the state information of the test vehicle, so that the behavior of the participators in the scene of the man-vehicle conflict becomes real, the test scene is more real and rich, and the test requirement of automatic driving is met.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. Test system based on whole car of autopilot is in the conflict scene of ring people's car, its characterized in that includes: the system comprises a test vehicle, a simulation industrial personal computer and an automatic driving algorithm industrial personal computer which are positioned in the test vehicle, and real participants wearing positioning sensing equipment;
the simulation industrial personal computer is used for acquiring vehicle state information of the test vehicle and sending the vehicle state information to the positioning sensing equipment;
the positioning sensing equipment is used for displaying the vehicle state information for the real participators to watch, acquiring participator state information of the real participators and sending the participator state information to the simulation industrial personal computer;
the simulation industrial personal computer is also used for updating a virtual test scene according to the vehicle state information and the participated object state information and transmitting a simulation sensor signal of a virtual vehicle in the updated virtual test scene to the automatic driving algorithm industrial personal computer;
the automatic driving algorithm industrial personal computer is used for sending a control signal generated according to the simulation sensor signal to the test vehicle so that the test vehicle moves according to the control signal and transmitting the state information of the moved vehicle to the simulation industrial personal computer;
the simulation industrial personal computer is also used for calibrating the virtual test scene according to the moving vehicle state information to obtain a human-vehicle conflict result, and carrying out automatic driving performance test according to the human-vehicle conflict result.
2. The system of claim 1, wherein the simulation industrial personal computer is further configured to construct the virtual test scenario, wherein the virtual test scenario comprises the virtual vehicle moving in real time with the test vehicle and a virtual participant moving in real time with the real participant.
3. The system of claim 1, wherein the vehicle state information comprises: vehicle position coordinates, speed, and heading angle.
4. The system of claim 1, wherein the participant status information comprises: participant position coordinates.
5. The system according to claim 1, wherein the simulation industrial personal computer specifically adopts a 5G communication network to send the vehicle state information to the positioning sensing device for the real participant to watch;
and the simulation industrial personal computer specifically adopts a 5G communication network to receive the state information of the participated object sent by the positioning sensing equipment.
6. The system of claim 1, wherein the location-aware device comprises Virtual Reality (VR) glasses with location functionality.
7. The system of claim 2, wherein the simulation industrial personal computer is specifically configured to:
automatically calibrating the virtual vehicle in the virtual test scene through a high-performance message queue communication technology according to the moving vehicle state information to obtain the human-vehicle collision result;
and carrying out automatic driving performance test according to the human-vehicle conflict result.
8. The system of claim 1, wherein the test vehicle interior further comprises a drive-by-wire module;
the industrial personal computer with the automatic driving algorithm is specifically used for sending the control signal to the test vehicle through the line control module.
9. The system of claim 3, wherein the test vehicle interior further comprises an Inertial Measurement Unit (IMU) and a positioning module;
the simulation industrial personal computer is specifically used for acquiring the speed and the course angle in the vehicle state information through the IMU;
the simulation industrial personal computer is specifically used for acquiring the vehicle position coordinates in the vehicle state information through the positioning module.
10. The test method based on the human-vehicle-around-vehicle collision scene of the whole automatic-driving vehicle is applied to the test system based on the human-vehicle-around-vehicle collision scene of the whole automatic-driving vehicle in any one of claims 1 to 9, and is characterized by comprising the following steps of:
the simulation industrial personal computer obtains vehicle state information of the test vehicle and sends the vehicle state information to the positioning sensing equipment;
the positioning sensing equipment displays the vehicle state information for the real participators to watch, acquires participator state information of the real participators, and sends the participator state information to the simulation industrial personal computer;
the simulation industrial personal computer updates the virtual test scene according to the vehicle state information and the participant state information, and transmits simulation sensor signals of virtual vehicles in the updated virtual test scene to the automatic driving algorithm industrial personal computer;
the automatic driving algorithm industrial personal computer sends a control signal generated according to the simulation sensor signal to the test vehicle so that the test vehicle moves according to the control signal and transmits the state information of the moved vehicle to the simulation industrial personal computer;
and the simulation industrial personal computer calibrates the virtual test scene according to the moved vehicle state information to obtain a human-vehicle conflict result, and performs automatic driving performance test according to the human-vehicle conflict result.
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| CN112639793A (en) * | 2020-08-05 | 2021-04-09 | 华为技术有限公司 | Test method and device for automatically driving vehicle |
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| CN113625594A (en) * | 2021-07-30 | 2021-11-09 | 中汽创智科技有限公司 | Automatic driving simulation method and system |
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