CN108919779A - A kind of interactive mode unmanned vehicle emulation mode and emulation platform - Google Patents
A kind of interactive mode unmanned vehicle emulation mode and emulation platform Download PDFInfo
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- CN108919779A CN108919779A CN201810709083.XA CN201810709083A CN108919779A CN 108919779 A CN108919779 A CN 108919779A CN 201810709083 A CN201810709083 A CN 201810709083A CN 108919779 A CN108919779 A CN 108919779A
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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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- 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
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0256—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults injecting test signals and analyzing monitored process response, e.g. injecting the test signal while interrupting the normal operation of the monitored system; superimposing the test signal onto a control signal during normal operation of the monitored system
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Abstract
This application provides a kind of interactive unmanned vehicle emulation mode and emulation platforms, wherein this method includes：Receive the operational order made after multiple traffic participant access emulation platforms to pedestrian or vehicle；Driving the pedestrian according to the operational order, perhaps vehicle moves in the emulation platform and obtains the exercise data of the pedestrian or vehicle in the emulation platform；It receives multiple unmanned vehicle developers and accesses the unmanned vehicle characteristic information inputted after the emulation platform, generate unmanned vehicle model, and control the unmanned vehicle model and moved based on the exercise data of the pedestrian or vehicle of acquisition in the emulation platform；Record operation data of the unmanned vehicle model in the emulation platform.The embodiment of the present application is by interactive mode and disclosed intelligent decision interface, the reaction for allowing each traffic participant energy sense of reality to make to automatic driving vehicle, has more authenticity and opening.
Description
Technical field
This application involves automatic Pilot technical fields, in particular to a kind of interactive unmanned vehicle emulation mode and imitate
True platform.
Background technique
The development of automatic Pilot technology is going into an outbreak period, has more and more companies to be going into this neck
Domain participates in the main forces of automatic Pilot technological development.Existing mode is usually to use in closed in each intra-company
Portion's emulation platform emulates certain set scenes under pre-set environment, such as whether automatic driving vehicle can be at crossing
Wait for parking red light etc., and one pre-set route of evacuation pedestrian (such as some crossing at the uniform velocity westerly to
It is eastbound dynamic).Therefore the prior art lacks open, and usual is only to use in some intra-company.In addition, in addition to automatic driving vehicle
Itself, other all traffic ginsengs (including pedestrian and vehicle) all move according to pre-determined route with person, with the pedestrian in real world
Lack authenticity compared with vehicle, so that such assessment lacks persuasion.For ruck, the security performance of technology
It is difficult to undergo.
Apply for content
In view of this, the application's is designed to provide a kind of interactive unmanned vehicle emulation mode and emulation platform, to change
Kind prior art opening and the not high problem of authenticity degree.
In a first aspect, the embodiment of the present application provides a kind of interactive unmanned vehicle emulation mode, including：
Receive the operational order made after multiple traffic participant access emulation platforms to pedestrian or vehicle；
It drives the pedestrian or vehicle to move in the emulation platform according to the operational order, and obtains the row
The exercise data of people or vehicle in the emulation platform；
It receives multiple unmanned vehicle developers and accesses the unmanned vehicle characteristic information inputted after the emulation platform, generate nobody
Vehicle model, and control movement number of the unmanned vehicle model based on the pedestrian or vehicle of acquisition in the emulation platform
According to being moved；
Record operation data of the unmanned vehicle model in the emulation platform.
With reference to first aspect, the embodiment of the present application provides the first possible embodiment of first aspect, wherein
It is described to receive the operational order made after multiple traffic participant access emulation platforms to pedestrian or vehicle, packet
It includes：
After receiving multiple traffic participant access emulation platforms, according to environmental data, other rows in the emulation platform
The movement of people and other vehicles and make control pedestrian or vehicle movement operational order.
With reference to first aspect or the first possible embodiment of first aspect, the embodiment of the present application provide first party
The possible embodiment of second of face, wherein
The operational order is controlled by traffic participant by Keyboard Control mode, remote sensing control mode and Virtual Reality
Any one control mode in mode issues.
The possible embodiment of with reference to first aspect the first, the embodiment of the present application provide the third of first aspect
Possible embodiment, wherein
The environmental data includes：At least one of road information, traffic mark information and obstacle information.
With reference to first aspect, the embodiment of the present application provides the 4th kind of possible embodiment of first aspect, wherein
Operation data of the unmanned vehicle model in the emulation platform include：
Travel speed, direction of travel and the travel condition of the unmanned vehicle model；
The travel speed of the unmanned vehicle model includes driving speed information and acceleration information；
The direction of travel of the unmanned vehicle model includes straight trip, turns to and retreat；
The travel condition of the unmanned vehicle model includes traveling, parking, lane change, overtakes other vehicles and emergency brake.
Second aspect, the embodiment of the present application also provides a kind of interactive unmanned vehicle emulation platform, the emulation platform packets
It includes：
Traffic participant operation interface, for being directed to pedestrian or vehicle after receiving multiple traffic participant access emulation platforms
Input operational order；
Module is obtained, for driving the pedestrian or vehicle to transport in the emulation platform according to the operational order
It is dynamic, and obtain the exercise data of the pedestrian or vehicle in the emulation platform；
Intelligent decision interface accesses the unmanned vehicle inputted after the emulation platform for receiving multiple unmanned vehicle developers
Characteristic information；
Control module generates unmanned vehicle model for the unmanned vehicle characteristic information based on the intelligent decision interface,
And it controls the unmanned vehicle model and is carried out based on the exercise data of the pedestrian or vehicle of acquisition in the emulation platform
Movement；
Logging modle, for recording operation data of the unmanned vehicle model in the emulation platform.
In conjunction with second aspect, the embodiment of the present application provides the first possible embodiment of second aspect, wherein
The traffic participant operation interface is specifically used for：
After receiving multiple traffic participant access emulation platforms, according to environmental data, other rows in the emulation platform
The movement of people and other vehicles and make control pedestrian or vehicle movement operational order.
In conjunction with the possible embodiment of the first of second aspect or second aspect, the embodiment of the present application provides second party
The possible embodiment of second of face, wherein
The operational order is controlled by traffic participant by Keyboard Control mode, remote sensing control mode and Virtual Reality
Any one control mode in mode issues.
In conjunction with second aspect, the embodiment of the present application provides the third possible embodiment of second aspect, wherein
Operation data of the unmanned vehicle model in the emulation platform include：
Travel speed, direction of travel and the travel condition of the unmanned vehicle model；
The travel speed of the unmanned vehicle model includes driving speed information and acceleration information；
The direction of travel of the unmanned vehicle model includes straight trip, turns to and retreat；
The travel condition of the unmanned vehicle model includes traveling, parking, lane change, overtakes other vehicles and emergency brake.
The third aspect, the embodiment of the present application also provides a kind of electronic equipment, including：Processor, memory and bus, institute
State memory and be stored with the executable machine readable instructions of the processor, when network side equipment operation, the processor with
By bus communication between the memory, the machine readable instructions execute above-mentioned method when being executed by the processor.
Fourth aspect, it is described computer-readable to deposit the embodiment of the present application also provides a kind of computer readable storage medium
Computer program is stored on storage media, the computer program executes above-mentioned method when being run by processor.
A kind of interactive unmanned vehicle emulation mode provided by the embodiments of the present application and emulation platform, using interactive mode
With disclosed intelligent decision interface, closed internal emulation platform is used in each intra-company in present mode, pre-
It emulates certain set scenes in the environment of first setting to compare, multiple traffic participants and multiple companies are linked into emulation jointly
Platform, with more open and authenticity, the automatic Pilot technology between different company compares in the same emulation platform
It is more convincing.
Further, a kind of interactive unmanned vehicle emulation mode provided by the embodiments of the present application and emulation platform, can also be by
Traffic participant issues operational order, and unmanned vehicle is made a response immediately under various scenes, and traffic participant can be with sense of reality
Pedestrian or other vehicles are correctly avoided in the case where no pre-set to unmanned vehicle, traffic participant can personal body
Test the safety of unmanned vehicle technology.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of flow chart of interactive mode unmanned vehicle emulation mode provided by the embodiment of the present application one；
Fig. 2 shows a kind of flow charts of interactive mode unmanned vehicle emulation mode provided by the embodiment of the present application two；
Fig. 3 shows a kind of flow chart of interactive mode unmanned vehicle emulation mode provided by the embodiment of the present application three；
Fig. 4 shows a kind of structural schematic diagram of interactive mode unmanned vehicle emulation platform provided by the embodiment of the present application four.
Fig. 5 shows the structure chart of electronic equipment provided by the embodiment of the present application five.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
Middle attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
It is some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, below to the application's provided in the accompanying drawings
The detailed description of embodiment is not intended to limit claimed scope of the present application, but is merely representative of the selected reality of the application
Apply example.Based on embodiments herein, those skilled in the art institute obtained without making creative work
There are other embodiments, shall fall in the protection scope of this application.
In view of existing emulation platform lacks open and authenticity, the automatic Pilot technology between different company is difficult to compare
The problem of.Based on this, the embodiment of the present application provides a kind of interactive unmanned vehicle emulation mode and emulation platform, below by reality
Example is applied to be described.
In the embodiment of the present application, the behaviour made after multiple traffic participant access emulation platforms to pedestrian or vehicle is received
It instructs, drives the pedestrian or vehicle to move in the emulation platform further according to the operational order, and described in acquisition
The exercise data of pedestrian or vehicle in the emulation platform receives multiple unmanned vehicle developers and accesses the emulation platform
The unmanned vehicle characteristic information inputted afterwards, generates unmanned vehicle model, and controls the pedestrian of the unmanned vehicle model based on acquisition
Or exercise data of the vehicle in the emulation platform is moved, and it is flat in the emulation finally to record the unmanned vehicle model
Operation data in platform.The unmanned vehicle developer of multiple traffic participants Yu multiple and different companies has been accessed in emulation platform,
Realize the opening and authenticity of emulation platform, the automatic Pilot technology between also comparable different company.
Embodiment one
The interactive unmanned vehicle emulation mode that the embodiment of the present application one provides, including：
S101：Receive the operational order made after multiple traffic participant access emulation platforms to pedestrian or vehicle.
Here, traffic participant passes through in Keyboard Control mode, remote sensing control mode or Virtual Reality control mode
Any one control mode operational order is made to pedestrian or vehicle.
After receiving multiple traffic participant access emulation platforms, according to environmental data, other rows in the emulation platform
The movement of people and other vehicles and the operational order of control pedestrian or vehicle movement made, environmental data includes that emulation is flat
Road information, traffic mark information and obstacle information in platform, road information includes highway, bridge, tunnel herein
Deng traffic mark information includes no tooting, motor vehicle signal lamp, traffic light, various forbidden or token passing etc..
S102：It drives the pedestrian or vehicle to move in the emulation platform according to the operational order, and obtains
The exercise data of the pedestrian or vehicle in the emulation platform.
Operational order can specifically refer to according to environmental data and other pedestrians, the travel speed of other vehicles, traveling side
To, travel condition, the travel speed for changing pedestrian or vehicle made, direction of travel, travel condition operational order, such as
See that crossing traffic indicator light red light, vehicle wait for parking red light at crossing.
S103：It receives multiple unmanned vehicle developers and accesses the unmanned vehicle characteristic information inputted after the emulation platform, it is raw
At unmanned vehicle model, and the pedestrian or vehicle of the unmanned vehicle model based on acquisition are controlled in the emulation platform
Exercise data is moved.
Herein, unmanned vehicle characteristic information includes the letter such as length, weight, affiliated research and development company, cruise duration of unmanned vehicle
Breath.
S104：Record operation data of the unmanned vehicle model in the emulation platform.
Operation data specifically includes travel speed, direction of travel and the travel condition of unmanned vehicle model, unmanned vehicle model
Travel speed further includes driving speed information and acceleration information, and acceleration information includes acceleration when accelerating here
Acceleration information when information and deceleration, the direction of travel of unmanned vehicle model further include straight trip, turn to and retreat, nobody
The travel condition of vehicle model further includes traveling, parking, lane change, overtakes other vehicles and emergency brake.
Embodiment two
Traffic participant in above-described embodiment one is accessed after emulation platform to pedestrian or vehicle below by embodiment two
The operational order made, and drive the pedestrian or vehicle to move in the emulation platform according to the operational order,
The detailed implementation process for obtaining the exercise data of the pedestrian or vehicle in the emulation platform is described further.
A kind of interactive unmanned vehicle emulation mode that the embodiment of the present application two provides is as shown in Fig. 2, include：
S201：The request of traffic participant access emulation platform is received, the type of traffic object is carried in the request.
Here, the type of traffic object includes pedestrian and vehicle, and traffic participant passes through keyboard, remote sensing or virtual reality
Any one mode in VR is linked into the access port of emulation platform, and emulation platform is selected according to traffic participant in display interface
The type of traffic object enter the characteristic information input interface of the type.
S202：The characteristic information for receiving the traffic object of the traffic participant input, generates traffic object model.
Here, characteristic information includes pedestrian's characteristic information and vehicle characteristic information, and the display interface of emulation platform is provided with
Characteristic information option, pedestrian's characteristic information specifically include the gender of pedestrian, height, weight, the age, it is whether disabled, whether be pregnant
Etc. information, vehicle characteristic information specifically include the information such as type of vehicle, passenger carrying capacity, matter-loading amount.
S203：The traffic object model sport is driven according to the operational order of traffic participant input.
Here, the traffic participant operational order, which refers to, changes pedestrian or the travel speed of vehicle, direction of travel, traveling
The operational order of state.
S204：Record exercise data of the traffic object model in the emulation platform.
Operation data specifically includes travel speed, direction of travel and the travel condition of traffic object model, traffic object mould
The travel speed of type further includes driving speed information and acceleration information, and acceleration information includes adding when accelerating here
Velocity information and slow down when acceleration information, the direction of travel of traffic object model further include straight trip, turn to and after
It moves back, the travel condition of traffic participant further includes that pedestrian walks, stands, running etc. and vehicle driving, parking, change
Road is overtaken other vehicles with emergency brake etc..
Embodiment three
Below by embodiment three to generating unmanned vehicle model in above-described embodiment one, and records the unmanned vehicle model and exist
The process of operation number in the emulation platform is described further.
A kind of interactive unmanned vehicle emulation mode that the embodiment of the present application three provides is as shown in figure 3, include：
S301：Receive the request that unmanned vehicle developer accesses emulation platform.
Herein, unmanned vehicle developer is by calling any one mode in dynamic base or network interface to be linked into
In emulation platform, then emulation platform enters unmanned vehicle characteristic information input interface.
S302：The unmanned vehicle characteristic information for receiving unmanned vehicle developer input, generates unmanned vehicle model.
Herein, unmanned vehicle characteristic information includes the drive system, length, weight, affiliated research and development company, continuation of the journey of unmanned vehicle
The information such as time.
S303：Control fortune of the unmanned vehicle model based on the pedestrian or vehicle of acquisition in the emulation platform
Dynamic data are moved, and record the exercise data of the unmanned vehicle model.
Herein, the exercise data of the unmanned vehicle model is to be accessed after emulation platform according to multiple traffic participants in institute
It states the exercise data and environmental data in emulation platform and makes the data of corresponding sports, operation data specifically includes unmanned vehicle
Travel speed, direction of travel and the travel condition of model, the travel speed of unmanned vehicle model further include travel speed letter
Breath and acceleration information, acceleration information when acceleration information includes acceleration information and the deceleration when accelerating here, nobody
The direction of travel of vehicle model further includes straight trip, turns to and retreat, and the travel condition of unmanned vehicle model further includes
Traveling, lane change, is overtaken other vehicles and emergency brake at parking, environmental data specifically include road information in emulation platform, traffic mark information and
Obstacle information.
S304：It is evaluated and tested according to the exercise data of the unmanned vehicle model.
Herein, the safety of unmanned vehicle model is evaluated and tested, is referred specifically to unmanned vehicle model in different road fields
Scape, traffic mark scene, barrier scene, other pedestrians and vehicle scene under violate the traffic regulations number, cause personnel
The indexs such as the quantity of injures and deaths, the number that traffic accident occurs are evaluated and tested.
Example IV
The structure for the interactive unmanned vehicle emulation platform that the embodiment of the present application four provides is as shown in figure 4, the interactive mode nothing
People's vehicle emulation platform 40 includes：Traffic participant operation interface 41, obtain module 42, intelligent decision interface 43, control module 44,
Logging modle 45；Wherein,
Traffic participant operation interface 41 is directed to for receiving after multiple traffic participant behaviour access the emulation platform 40
The operational order of pedestrian or vehicle input；
Module 42 is obtained, for driving the pedestrian or vehicle in the emulation platform 40 according to the operational order
Movement, and obtain the exercise data of the pedestrian or vehicle in the emulation platform 40；
Intelligent decision interface 43 accesses the nothing inputted after the emulation platform 40 for receiving multiple unmanned vehicle developers
People's vehicle characteristic information；
Control module 44 generates unmanned vehicle for being based on the received unmanned vehicle characteristic information of the intelligent decision interface 43
Model, and the unmanned vehicle model is controlled based on the pedestrian or vehicle for obtaining the acquisition of module 42 in the emulation platform 40
In exercise data moved；
Logging modle 45, for recording operation data of the unmanned vehicle model in the emulation platform 40.
Above-mentioned interactive mode unmanned vehicle emulation platform 40 can connect multiple traffic participants and multiple unmanned vehicle developers
Enter, and then record the operation data of unmanned vehicle, to realize the opening and authenticity of emulation platform, and can be to not
Automatic Pilot technology with intercompany is compared, more convincing.
Optionally, the traffic participant operation interface 41 passes through keyboard, remote sensing or virtual reality by traffic participant
Any one mode in VR accesses, and the traffic participant interface 41 is network interface；
The intelligent decision interface 42 is passed through any in calling dynamic base or network interface by unmanned vehicle developer
A kind of mode accesses.
Optionally, it is described receive multiple traffic participants and access after the emulation platform 40 pedestrian or vehicle are made
Operational order, including：Multiple traffic participants are received to access after the emulation platform 40 according to the environment in the emulation platform
Data, other pedestrians and other vehicles movement and make the operational orders of corresponding sports.
Based on above-mentioned analysis it is found that compared with intra-company's emulation mode in the related technology, the embodiment of the present application is provided
The emulation of interactive unmanned vehicle and emulation platform method will be more using traffic participant operation interface 41 and intelligent decision interface 43
A traffic participant and multiple companies are linked into jointly in the emulation platform 40, make the emulation platform 40 with more opening
And authenticity, experience of the ruck to unmanned vehicle automatic Pilot technology is met, the automatic Pilot technology between different company exists
Compare in the same emulation platform more convincing.
Embodiment five
As shown in figure 5, for the structural schematic diagram of a kind of electronic equipment 50 provided by the embodiment of the present application five, including：Place
Manage device 51, memory 52 and bus 53；
The memory 52 is stored with the executable machine readable instructions of the processor 51, when network side equipment is run
When, it is communicated between the processor 51 and the memory 52 by bus 53, the machine readable instructions are by the processor
51 execute following processing when executing：
Receive the operational order made after multiple traffic participant access emulation platforms to pedestrian or vehicle；
It drives the pedestrian or vehicle to move in the emulation platform according to the operational order, and obtains the row
The exercise data of people or vehicle in the emulation platform；
It receives multiple unmanned vehicle developers and accesses the unmanned vehicle characteristic information inputted after the emulation platform, generate nobody
Vehicle model, and control movement number of the unmanned vehicle model based on the pedestrian or vehicle of acquisition in the emulation platform
According to being moved；
Record operation data of the unmanned vehicle model in the emulation platform.
In specific implementation, described to receive multiple traffic participant access emulation in the processing that above-mentioned processor 51 executes
The operational order that pedestrian or vehicle are made after platform, including：
After receiving multiple traffic participant access emulation platforms, according to environmental data, other rows in the emulation platform
The movement of people and other vehicles and make control pedestrian or vehicle movement operational order.
In specific implementation, the operational order by traffic participant by Keyboard Control mode, remote sensing control mode and
Any one control mode in Virtual Reality control mode issues.
In specific implementation, the environmental data includes：In road information, traffic mark information and obstacle information extremely
Few one kind.
In specific implementation, operation data of the unmanned vehicle model in the emulation platform includes：
Travel speed, direction of travel and the travel condition of the unmanned vehicle model；
The travel speed of the unmanned vehicle model includes driving speed information and acceleration information；
The direction of travel of the unmanned vehicle model includes straight trip, turns to and retreat；
The travel condition of the unmanned vehicle model includes traveling, parking, lane change, overtakes other vehicles and emergency brake.
Embodiment six
The embodiment of the present application six additionally provides a kind of computer readable storage medium, deposits on the computer readable storage medium
Computer program is contained, which executes above-mentioned interactive unmanned vehicle emulation mode when being run by processor the step of.
The computer program product of formula unmanned vehicle emulation mode, including storage are interacted provided by the embodiment of the present application
The computer readable storage medium of program code, the instruction that said program code includes can be used for executing previous methods embodiment
Described in method, specific implementation can be found in embodiment of the method, details are not described herein.
Interactive mode unmanned vehicle emulation platform provided by the embodiment of the present application can be the specific hardware or peace in equipment
Loaded on the software or firmware etc. in equipment.The technical effect of device provided by the embodiment of the present application, realization principle and generation
Identical with preceding method embodiment, to briefly describe, Installation practice part does not refer to place, can refer to preceding method embodiment
Middle corresponding contents.It is apparent to those skilled in the art that for convenience and simplicity of description, foregoing description is
The specific work process of system, device and unit, the corresponding process during reference can be made to the above method embodiment, it is no longer superfluous herein
It states.
In embodiment provided herein, it should be understood that disclosed device and method, it can be by others side
Formula is realized.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, only one kind are patrolled
Function division is collected, there may be another division manner in actual implementation, in another example, multiple units or components can combine or can
To be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some communication interfaces, device or unit
It connects, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in embodiment provided by the present application can integrate in one processing unit, it can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) execute each embodiment the method for the application all or part of the steps.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing, in addition, term " the
One ", " second ", " third " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Finally it should be noted that：Embodiment described above, the only specific embodiment of the application, to illustrate the application
Technical solution, rather than its limitations, the protection scope of the application is not limited thereto, although with reference to the foregoing embodiments to this Shen
It please be described in detail, those skilled in the art should understand that：Anyone skilled in the art
Within the technical scope of the present application, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of the embodiment of the present application technical solution.The protection in the application should all be covered
Within the scope of.Therefore, the protection scope of the application shall be subject to the protection scope of the claim.
Claims (10)
1. a kind of interactive mode unmanned vehicle emulation mode, which is characterized in that including：
Receive the operational order made after multiple traffic participant access emulation platforms to pedestrian or vehicle；
Drive the pedestrian or vehicle to move in the emulation platform according to the operational order, and obtain the pedestrian or
Exercise data of person's vehicle in the emulation platform；
It receives multiple unmanned vehicle developers and accesses the unmanned vehicle characteristic information inputted after the emulation platform, generate unmanned vehicle mould
Type, and control the unmanned vehicle model based on exercise data in the emulation platform of the pedestrian or vehicle of acquisition into
Row movement；
Record operation data of the unmanned vehicle model in the emulation platform.
2. the method according to claim 1, wherein after the multiple traffic participants access emulation platforms of the reception
To the operational order that pedestrian or vehicle make, including：
After receiving multiple traffic participants access emulation platforms, according in the emulation platform environmental data, other pedestrians with
And other vehicles movement and make control pedestrian or vehicle movement operational order.
3. method according to claim 1 or 2, which is characterized in that the operational order passes through keyboard by traffic participant
Any one control mode in control mode, remote sensing control mode and Virtual Reality control mode issues.
4. according to the method described in claim 2, it is characterized in that, the environmental data includes：Road information, traffic mark letter
At least one of breath and obstacle information.
5. the method according to claim 1, wherein the unmanned vehicle model is in the emulation platform
Operation data includes：
Travel speed, direction of travel and the travel condition of the unmanned vehicle model；
The travel speed of the unmanned vehicle model includes driving speed information and acceleration information；
The direction of travel of the unmanned vehicle model includes straight trip, turns to and retreat；
The travel condition of the unmanned vehicle model includes traveling, parking, lane change, overtakes other vehicles and emergency brake.
6. a kind of interactive mode unmanned vehicle emulation platform, which is characterized in that including：
Traffic participant operation interface, it is defeated for pedestrian or vehicle after multiple traffic participants access emulation platforms for receiving
The operational order entered；
Module is obtained, for driving the pedestrian or vehicle to move in the emulation platform according to the operational order, and
Obtain the exercise data of the pedestrian or vehicle in the emulation platform；
Intelligent decision interface accesses the unmanned vehicle feature inputted after the emulation platform for receiving multiple unmanned vehicle developers
Information；
Control module generates unmanned vehicle model, and control for the unmanned vehicle characteristic information based on the intelligent decision interface
The unmanned vehicle model is made to move based on the exercise data of the pedestrian or vehicle of acquisition in the emulation platform；
Logging modle, for recording operation data of the unmanned vehicle model in the emulation platform.
7. emulation platform according to claim 6, which is characterized in that the traffic participant operation interface is specifically used for：
After receiving multiple traffic participants access emulation platforms, according in the emulation platform environmental data, other pedestrians with
And other vehicles movement and make control pedestrian or vehicle movement operational order.
8. emulation platform according to claim 6 or 7, which is characterized in that the operational order is passed through by traffic participant
Any one control mode in Keyboard Control mode, remote sensing control mode and Virtual Reality control mode issues.
9. emulation platform according to claim 6, which is characterized in that the unmanned vehicle model is in the emulation platform
In operation data include：
Travel speed, direction of travel and the travel condition of the unmanned vehicle model；
The travel speed of the unmanned vehicle model includes driving speed information and acceleration information；
The direction of travel of the unmanned vehicle model includes straight trip, turns to and retreat；
The travel condition of the unmanned vehicle model includes traveling, parking, lane change, overtakes other vehicles and emergency brake.
10. a kind of computer readable storage medium, computer program, the meter are stored on the computer readable storage medium
Calculation machine program executes method as claimed in claim 1 to 5 when being run by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810709083.XA CN108919779A (en) | 2018-07-02 | 2018-07-02 | A kind of interactive mode unmanned vehicle emulation mode and emulation platform |
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| CN201810709083.XA CN108919779A (en) | 2018-07-02 | 2018-07-02 | A kind of interactive mode unmanned vehicle emulation mode and emulation platform |
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| CN111077798A (en) * | 2019-12-09 | 2020-04-28 | 武汉光庭信息技术股份有限公司 | Simulation scene real-time control method and device |
| CN111400896A (en) * | 2020-03-12 | 2020-07-10 | 阿里巴巴集团控股有限公司 | Traffic simulation method, equipment and storage medium |
| CN111699449A (en) * | 2019-04-30 | 2020-09-22 | 深圳市大疆创新科技有限公司 | Simulation test method and system for automatic driving vehicle, storage medium and vehicle |
| CN111753425A (en) * | 2020-06-26 | 2020-10-09 | 北京百度网讯科技有限公司 | Simulation method, simulation device, electronic equipment and storage medium |
| CN111983934A (en) * | 2020-06-28 | 2020-11-24 | 中国科学院软件研究所 | Unmanned vehicle simulation test case generation method and system |
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