CN108595901A - A kind of autonomous driving vehicle normalized security simulating, verifying model data base system - Google Patents
A kind of autonomous driving vehicle normalized security simulating, verifying model data base system Download PDFInfo
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- 238000012360 testing method Methods 0.000 claims abstract description 38
- 238000004519 manufacturing process Methods 0.000 claims abstract description 12
- 230000000116 mitigating effect Effects 0.000 claims abstract description 6
- 206010039203 Road traffic accident Diseases 0.000 claims description 15
- 238000004088 simulation Methods 0.000 claims description 14
- 238000011161 development Methods 0.000 claims description 11
- 230000006378 damage Effects 0.000 claims description 10
- 238000012795 verification Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 7
- 208000027418 Wounds and injury Diseases 0.000 claims description 6
- 208000014674 injury Diseases 0.000 claims description 5
- 238000011156 evaluation Methods 0.000 claims description 2
- 238000012549 training Methods 0.000 description 11
- 238000013461 design Methods 0.000 description 4
- 230000010485 coping Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 238000005286 illumination Methods 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 230000000750 progressive effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 1
- 231100000518 lethal Toxicity 0.000 description 1
- 230000001665 lethal effect Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000011076 safety test Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
Abstract
This disclosure relates to a kind of autonomous driving vehicle normalized security simulating, verifying model data base system, the system comprises：Nominal situation simulating scenes model, dangerous working condition simulating scenes model, accident conditions simulating scenes model.The nominal situation simulating scenes model for vehicle carried out in this operating mode can normally travel automatic Pilot virtual simulation test；Can the dangerous working condition simulating scenes model carry out finding danger in time in this operating mode for vehicle, avoids the dangerous automatic Pilot virtual simulation test occurred；The accident conditions simulating scenes model is made whether to take timely measure in this operating mode for vehicle, avoids the automatic Pilot virtual simulation test that accident occurs or greatly mitigation accident occurs.By Database Systems, whether can drive safely to high-level automatic driving vehicle and carry out virtual simulation test, critical support is provided for road traveling in the volume production of high-level automatic driving vehicle.
Description
Technical field
This disclosure relates to automobile technical field, and in particular, to one kind in automatic driving technical field is driven automatically
Sail Automotive Standardization safe simulation verification model data base system.
Background technology
Autonomous driving vehicle is developed so far the function that can realize automatic Pilot in closed and open road, so
And in face of the element of various complexity in traffic environment so that autonomous driving vehicle always will appear the problem of can not coping with and handling,
Human driver is needed to take over；Meanwhile autonomous driving vehicle drive test during occur largely cause injury traffic accident and more
Carry out more lethal traffic accidents.For this purpose, autonomous driving vehicle industry needs " fault model ", reliable safety verification mistake is provided
Journey and the rule referred to for decision-making software, verify the safety of autonomous driving vehicle, otherwise, without standardized peace
Full verification model, automatic driving vehicle are difficult to mass produce.
Especially in China, if the codes and standards that autonomous driving vehicle technology is not unified, and then to automatic Pilot vapour
The safety of vehicle carries out the test and evaluation of system, and autonomous driving vehicle can not just obtain volume production qualification, would not be allowed to
Road.And it is to solve autonomous driving vehicle volume production at home to build reasonable, rigorous and responsible " normalized security verification model "
Unique channel.
The disclosure bases oneself upon this point, using automatic Pilot Virtual Simulation, from computer virtual simulation range tie
The normalized security of three ranks of structure verifies model.It, can be to high-level automatic by normalized security simulating scenes model
Whether driving vehicle, which can drive safely, carries out virtual simulation test, on the one hand significantly reduces automatic driving vehicle and carries out in fact
The testing cost of border road, at the same solve automatic driving vehicle real road test can not or be difficult carry out dangerous working condition and
The problem of accident conditions are tested, being provided for the authentication test that high-level automatic driving vehicle is standardized before volume production can
Can, solve before high-level automatic driving vehicle volume production safety test testing standard and specification without or wretched insufficiency, in turn
Can not volume production and commercialized problem, in the volume production of high-level automatic driving vehicle road traveling provide critical support.
Invention content
To achieve the above object, this disclosure relates to a kind of autonomous driving vehicle normalized security simulating, verifying model database
System, the system comprises：Nominal situation simulating scenes model, dangerous working condition simulating scenes model, accident conditions simulating scenes
Model.
The nominal situation simulating scenes model is for high-level automatic driving vehicle in this operating mode simulating scenes model
Carry out can normally travel virtual simulation test, carry out the training of automatic Pilot algorithm and carry out automatic Pilot performance development tune
School；
The dangerous working condition simulating scenes model is for high-level automatic driving vehicle in this operating mode simulating scenes model
Can progress find danger in time, avoid the dangerous virtual simulation test occurred, carry out the training of automatic Pilot algorithm and carry out
Automatic Pilot performance development adjustment；
The accident conditions simulating scenes model is for high-level automatic driving vehicle in this operating mode simulating scenes model
It is made whether to take timely measure, avoids the virtual simulation test, progress that accident occurs or greatly mitigation accident occurs
The training of automatic Pilot algorithm and progress automatic Pilot performance development adjustment.
Wherein,
The building mode of the nominal situation simulating scenes model：Typical traffic route traveling in true traffic is special
Sign, typical traffic operating mode feature has carried out the virtual emulation reduction of scene, to imitative safely as standardized nominal situation
True verification model；
The building mode of the dangerous working condition simulating scenes model：To occur a large amount of of dangerous driving conditions in true traffic
Typical case carries out the virtual emulation reduction of scene；Also the generation vehicle occurred in true traffic is damaged simultaneously but does not generate occupant's wound
Harmful a large amount of typical traffic accidents carry out the virtual emulation reduction of high definition scene, to imitative safely as standardized dangerous working condition
True verification model；
The building mode of the accident conditions simulating scenes model：To occur a large amount of typical cases of occupant's casualties in true traffic
Traffic accident carries out the virtual emulation reduction of scene, to verify model as standardized accident conditions safe simulation.
Wherein,
The composition of the nominal situation simulating scenes model is：A large amount of emulation fields with typical traffic road driving feature
Scape model；A large amount of simulating scenes models with typical traffic driving cycle feature；
The composition of the dangerous working condition simulating scenes model is：Occur a large amount of allusion quotations of dangerous driving conditions in true traffic
The simulating scenes model of type case；Vehicle damage is generated in true traffic accident but does not generate a large amount of typical traffic things of occupant injury
Therefore the simulating scenes model of case；
The composition of the dangerous working condition simulating scenes model is：Occur a large amount of allusion quotations of occupant's casualties in true traffic accident
The simulating scenes model of type traffic accident case.
Database Systems in the disclosure are used for high-level automatic Pilot vehicle by the nominal situation simulating scenes model
Carry out in this operating mode simulating scenes model can normally travel virtual simulation test and carry out automatic Pilot algorithm instruction
Practice and automatic Pilot performance development adjustment；Existed for high-level automatic driving vehicle by the dangerous working condition simulating scenes model
It carries out to find danger in time in this operating mode simulating scenes model, avoid the dangerous virtual simulation test occurred and carries out certainly
It is dynamic to drive algorithm training and automatic Pilot performance development adjustment；By the accident conditions simulating scenes model for it is high-level from
The dynamic vehicle that drives is made whether to take timely measure in this operating mode simulating scenes model, avoids accident generation or very big
The virtual simulation test and carry out the training of automatic Pilot algorithm and automatic Pilot performance development adjustment that mitigation accident occurs.Most
Afterwards, it by the different application of function of three kinds of operating mode simulating scenes models, has collectively constituted to traveling peace in road on autonomous driving vehicle
The systematicness exploitation and verification of full property.
As it can be seen that system in the disclosure more system and comprehensively can assess the safety of automatic Pilot, it is high-level
The authentication test that automatic driving vehicle is standardized before volume production provides possibility, solve high-level automatic driving vehicle without
Testing standard and specification, so can not volume production and commercialized problem, be high-level automatic driving vehicle volume production on road traveling
Provide critical support.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is for providing further understanding of the disclosure, and a part for constitution instruction, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings：
Fig. 1 is a kind of autonomous driving vehicle normalized security simulating, verifying model shown in one exemplary embodiment of the disclosure
The schematic diagram of Database Systems.
Specific implementation mode
The specific implementation mode of the disclosure is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific implementation mode stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
As shown in Figure 1, for a kind of autonomous driving vehicle normalized security emulation shown in one exemplary embodiment of the disclosure
Model data base system is verified, which includes：
Nominal situation simulating scenes model 11, dangerous working condition simulating scenes model 12, accident conditions simulating scenes model 13.
The building mode of the nominal situation simulating scenes model 11：Typical traffic route traveling in true traffic is special
Sign, the virtual emulation that typical traffic operating mode feature completes scene by computer scene high definition reduction technique restore.Scene
Virtual emulation reduction includes but not limited to the high definition reduction of road, and the high definition of traffic sign restores, the high definition reduction of means of transportation,
The high definition of roadside buildings object restores, high definition reduction of traffic participant etc., while can also add the environmental factors such as weather, illumination
Enter wherein, to verify model as standardized nominal situation safe simulation；
The building mode of the dangerous working condition simulating scenes model 12：To occur the big of dangerous driving conditions in true traffic
Measure the virtual emulation reduction that typical case carries out scene by computer scene high definition reduction technique；It simultaneously also will be in true traffic
The generation vehicle of appearance damage but do not generate a large amount of typical traffic accidents of occupant injury using computer scene high definition reduction technique into
The virtual emulation of row high definition scene restores.The virtual emulation reduction of scene includes but not limited to the high definition reduction of road, traffic mark
The high definition of will restores, the high definition reduction of means of transportation, the high definition reduction of roadside buildings object, high definition reduction of traffic participant etc.
Deng, while the process and result that the environmental factors such as weather, illumination and danger or accident occur can be also added thereto, to
Model is verified as standardized dangerous working condition safe simulation；
The building mode of the accident conditions simulating scenes model 13：To occur a large amount of allusion quotations of occupant's casualties in true traffic
The virtual emulation that type traffic accident carries out high definition scene using computer scene high definition reduction technique restores.The virtual emulation of scene
Reduction includes but not limited to the high definition reduction of road, the high definition reduction of traffic sign, the high definition reduction of means of transportation, roadside buildings
The high definition of object restores, high definition reduction of traffic participant etc., while can also send out the environmental factors such as weather, illumination and accident
Raw process and result is added thereto, and the virtual emulation reduction of scene is carried out, to imitative safely as standardized accident conditions
True verification model.
The nominal situation simulating scenes model 11 is for high-level automatic driving vehicle in this operating mode simulating scenes model
Middle progress can normally travel virtual simulation test and carry out automatic Pilot algorithm training and automatic Pilot performance development tune
School；
Test carriage vehicle dynamics simulation model is added in nominal situation simulating scenes model 11, it can be with simulation test certainly
Whether the dynamic test carriage that drives being capable of normally travel in nominal situation simulating scenes model, if disclosure satisfy that design object.
Optionally, if automatic Pilot test vehicle model can not complete the target call of normally travel, field can be utilized
Scape model carries out the training of automatic Pilot algorithm and improves.
Optionally, the further application function of model of place is, according to the requirement of the performances such as vehicle comfort, in scene
Vehicle model progressive energy adjustment and optimization are tested to automatic Pilot in model, to meet wanting for various performances in vehicle traveling
It asks.
The dangerous working condition simulating scenes model 12 is for high-level automatic driving vehicle in this operating mode simulating scenes model
Can middle progress find danger in time, avoid the dangerous virtual simulation test occurred and carry out the training of automatic Pilot algorithm and from
Dynamic cornering ability develops adjustment；
Test carriage vehicle dynamics simulation model is added in dangerous working condition simulating scenes model 12, it can be with simulation test certainly
It is dynamic to drive whether test carriage find danger in time in dangerous working condition simulating scenes model, avoid dangerous generation, if
It disclosure satisfy that design object.
Optionally, if automatic Pilot test vehicle model can not find danger in time, dangerous generation, Ke Yili are avoided
The training of automatic Pilot algorithm is carried out with model of place and is improved.
Optionally, the further application function of model of place is, on the scene according to the requirement of the further safety of vehicle
Vehicle model progressive energy adjustment and optimization are tested to automatic Pilot in scape model, to meet vehicle in coping with dangerous working condition such as
What, which is effectively prevented from passenger, comes to harm.
The accident conditions simulating scenes model 13 is for high-level automatic driving vehicle in this operating mode simulating scenes model
In be made whether to take timely measure, avoid accident occurs or greatly mitigation accident occurs virtual simulation test and
Carry out the training of automatic Pilot algorithm and automatic Pilot performance development adjustment.
Test carriage vehicle dynamics simulation model is added in accident conditions simulating scenes model 13, it can be with simulation test certainly
It is dynamic to drive whether test carriage take timely measure in accident conditions model of place, it avoids the generation of accident or greatly subtracts
The generation of light accident, if disclosure satisfy that design object.
Optionally, if automatic Pilot test vehicle model can not take timely measure, generation or the pole of accident are avoided
The big generation for mitigating accident can be carried out the training of automatic Pilot algorithm and be improved using model of place.
Optionally, the further application function of model of place is, on the scene according to the requirement of the further safety of vehicle
Vehicle model progressive energy adjustment and optimization are tested to automatic Pilot in scape model, to meet vehicle in coping with accident conditions such as
What more effectively protects passenger.
The preferred embodiment of the disclosure is described in detail above in association with attached drawing, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the disclosure to it is various can
The combination of energy no longer separately illustrates.
In addition, arbitrary combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (8)
1. a kind of autonomous driving vehicle normalized security simulating, verifying model data base system, which is characterized in that the system packet
It includes：
Nominal situation simulating scenes model, dangerous working condition simulating scenes model, accident conditions simulating scenes model.
2. system according to claim 1, which is characterized in that the automatic of three kinds of operating modes simulating scenes model composition is driven
Sail the application of function of Automotive Standardization safe simulation verification model data base system and the function of each operating mode simulating scenes model
Using：
The autonomous driving vehicle normalized security simulating, verifying model is high-level automatic driving vehicle in volume production advance rower
The authentication test of standardization provides method, and more system and comprehensive survey can be carried out to high-level automatic driving vehicle safety
Examination and evaluation, and then whether can be with scale of mass production to autonomous driving vehicle, if critical support can be provided with commercial applications
And foundation；
The nominal situation simulating scenes model is carried out for high-level automatic driving vehicle in this operating mode simulating scenes model
Can normally travel virtual simulation test；
The nominal situation simulating scenes model is carried out for high-level automatic driving vehicle in this operating mode simulating scenes model
Automatic Pilot algorithm is trained and automatic Pilot performance development adjustment；
The dangerous working condition simulating scenes model is carried out for high-level automatic driving vehicle in this operating mode simulating scenes model
Danger can be found in time, avoid the dangerous virtual simulation test occurred；
The dangerous working condition simulating scenes model is carried out for high-level automatic driving vehicle in this operating mode simulating scenes model
Automatic Pilot algorithm is trained and automatic Pilot performance development adjustment；
The accident conditions simulating scenes model is carried out for high-level automatic driving vehicle in this operating mode simulating scenes model
Whether can take timely measure, avoid the virtual simulation test that accident occurs or greatly mitigation accident occurs；
The accident conditions simulating scenes model is carried out for high-level automatic driving vehicle in this operating mode simulating scenes model
Automatic Pilot algorithm is trained and automatic Pilot performance development adjustment.
3. system according to claim 1, which is characterized in that the building mode of the nominal situation simulating scenes model：
Typical traffic route travelling characteristic, typical traffic operating mode feature in true traffic the virtual emulation of scene has been subjected to also
Original, to verify model as standardized nominal situation safe simulation.
4. system according to claim 3, which is characterized in that the composition of the nominal situation simulating scenes model is：Greatly
Measurer has the simulating scenes model of typical traffic road driving feature；A large amount of emulation fields with typical traffic driving cycle feature
Scape model.
5. system according to claim 1, which is characterized in that the building mode of the dangerous working condition simulating scenes model：
The a large amount of typical cases for occurring dangerous driving conditions in true traffic are carried out to the virtual emulation reduction of scene；It simultaneously also will be true
The generation vehicle occurred in traffic damages but does not generate the virtual emulation of a large amount of typical traffic accidents progress high definition scene of occupant injury
Reduction, to verify model as standardized dangerous working condition safe simulation.
6. system according to claim 5, which is characterized in that the composition of the dangerous working condition simulating scenes model is：
There is the simulating scenes model of a large amount of typical cases of dangerous driving conditions in true traffic；Vehicle is generated in true traffic accident
Damage but do not generate the simulating scenes model of a large amount of typical traffic accident cases of occupant injury.
7. system according to claim 1, which is characterized in that the building mode of the accident conditions simulating scenes model：
The virtual emulation reduction that a large amount of typical traffic accidents for occurring occupant's casualties in true traffic are carried out to scene, to become standard
The accident conditions safe simulation of change verifies model.
8. system according to claim 7, which is characterized in that the composition of the dangerous working condition simulating scenes model is：
There is the simulating scenes model of a large amount of typical traffic accident cases of occupant's casualties in true traffic accident.
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| CN110793784B (en) * | 2019-09-16 | 2021-10-26 | 腾讯科技（深圳）有限公司 | Test method and device for automatic driving vehicle, storage medium and electronic device |
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| CN111079800A (en) * | 2019-11-29 | 2020-04-28 | 上海汽车集团股份有限公司 | Acceleration method and acceleration system for intelligent driving virtual test |
| CN111079800B (en) * | 2019-11-29 | 2023-06-23 | 上海汽车集团股份有限公司 | Acceleration method and acceleration system for intelligent driving virtual test |
| CN110888417A (en) * | 2019-12-16 | 2020-03-17 | 苏州智加科技有限公司 | Real-time simulation and test method for control system of automatic driving truck |
| CN112241127A (en) * | 2019-12-20 | 2021-01-19 | 北京新能源汽车技术创新中心有限公司 | Automatic driving safety scoring method and device, computer equipment and storage medium |
| CN112241127B (en) * | 2019-12-20 | 2023-08-22 | 北京国家新能源汽车技术创新中心有限公司 | Automatic driving safety scoring method, automatic driving safety scoring device, computer equipment and storage medium |
| CN113490940A (en) * | 2020-01-21 | 2021-10-08 | 深圳元戎启行科技有限公司 | Scene simulator construction method and device based on deep learning and computer equipment |
| CN111841012A (en) * | 2020-06-23 | 2020-10-30 | 北京航空航天大学 | Automatic driving simulation system and test resource library construction method thereof |
| CN112613169A (en) * | 2020-12-16 | 2021-04-06 | 清华大学苏州汽车研究院（相城） | Expected function safety analysis method for misoperation of automatic driving vehicle |
| CN112613169B (en) * | 2020-12-16 | 2022-12-06 | 清华大学苏州汽车研究院（相城） | Expected function safety analysis method for misoperation of automatic driving vehicle |
| CN113450472A (en) * | 2021-06-09 | 2021-09-28 | 上海智能新能源汽车科创功能平台有限公司 | Intelligent test system and method for automobile driving accident recurrence |
| CN113706911A (en) * | 2021-08-25 | 2021-11-26 | 上海尔纯数据科技有限公司 | Automatic driving method based on digital traffic scene |
| CN113704993A (en) * | 2021-08-25 | 2021-11-26 | 上海尔纯数据科技有限公司 | Traffic scene digitization method |
| CN113704993B (en) * | 2021-08-25 | 2024-04-26 | 娄底职业技术学院 | Traffic scene digitizing method |
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