CN109883448A - Map box test method and system - Google Patents
Map box test method and system Download PDFInfo
- Publication number
- CN109883448A CN109883448A CN201910243344.8A CN201910243344A CN109883448A CN 109883448 A CN109883448 A CN 109883448A CN 201910243344 A CN201910243344 A CN 201910243344A CN 109883448 A CN109883448 A CN 109883448A
- Authority
- CN
- China
- Prior art keywords
- data
- map box
- map
- simulation
- test
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000010998 test method Methods 0.000 title claims abstract description 10
- 238000004088 simulation Methods 0.000 claims abstract description 79
- 238000012360 testing method Methods 0.000 claims abstract description 55
- 238000000034 method Methods 0.000 claims abstract description 21
- 238000004891 communication Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 abstract description 5
- 230000006870 function Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Landscapes
- Navigation (AREA)
- Traffic Control Systems (AREA)
- Instructional Devices (AREA)
Abstract
The present invention provides map box test method and system, to reduce testing cost, improve working efficiency.The test macro includes at least: Generation of simulating data unit and test cell；The described method includes: the Generation of simulating data unit emulates data to the operation that map box exports vehicle in virtual test scene in real time；The Generation of simulating data unit exports image simulation data to the map box in real time；The map box emulates data using received operation and image simulation data calculate location information；The test cell compares the location information with standard location information, obtains test report.In embodiments of the present invention, real road is replaced using virtual test scene, to map box calculates required operation data and image data and has carried out analogue simulation, real vehicle participation is not needed in the process, a large amount of field test is not needed yet, working efficiency can be improved while reducing testing cost.
Description
Technical field
The present invention relates to emulation fields, in particular to map box test method and system.
Background technique
Map box is a kind of for the advanced Vehicle Controller for driving auxiliary or intelligent driving auxiliary, can be according to other
Current positioning (position) information of the data output vehicle that equipment provides.
Before investment application, to map box is needed to carry out high-precision assignment test.Existing test mode is usually to choose in fact
Border road is directly tested on road as test scene, compares verifying with standard setting data.Test process must select
Fixed place is taken, and needs a large amount of on-the-ground test, testing cost is high.
Summary of the invention
In view of this, the embodiment of the present invention provides map box test method and system, to reduce testing cost, improve work
Make efficiency.
To achieve the above object, the embodiment of the present invention provides the following technical solutions:
A kind of map box test method is based on map box test macro, and the test macro includes at least: emulation number
According to generation unit and test cell；
The described method includes:
The Generation of simulating data unit emulates number to the operation that map box exports vehicle in virtual test scene in real time
According to；
The Generation of simulating data unit exports image simulation data to the map box in real time；
The map box emulates data using received operation and image simulation data calculate location information；
The test cell compares the location information with standard location information, obtains test report.
Optionally, the Generation of simulating data unit includes vehicle dynamic model；The vehicle dynamic model operation
It is the virtual emulation model of real vehicles in the virtual test scene；The initial data of the operation emulation data is by institute
State vehicle dynamic model generation.
Optionally, the operation emulation data include satellite navigation emulation data and Attitude Simulation data.
Optionally, the operation emulation data for exporting virtual tested vehicle in real time to map box include:
The vehicle dynamic model is run on the virtual road of virtual test scene；
The vehicle dynamic model calculate in the virtual test scene in real time the three-dimensional position true value of itself and
Inertial Measurement Unit IMU data；The initial data includes the three-dimensional position true value and IMU data；
The three-dimensional position true value is mapped as longitude and latitude true value；
Noise is added to the longitude and latitude true value and IMU data；
The communications protocol and data format that data are received according to the map box, will add the longitude and latitude true value after making an uproar to encapsulate
For navigation simulation data；
The communications protocol and data format that data are received according to the map box, will add the IMU data after making an uproar to be encapsulated as
Attitude Simulation data；
The satellite navigation emulation data and the Attitude Simulation data are sent to the map box.
Optionally, the Generation of simulating data unit further includes satellite navigation signal simulator, three-dimensional turntable and IMU sensing
Device；The three-dimensional turntable is connected with the IMU sensor；
The operation for exporting virtual tested vehicle in real time to map box emulates data and includes:
The vehicle dynamic model is run on the virtual road of virtual test scene；
The vehicle dynamic model calculate in the virtual test scene in real time the three-dimensional position true value of itself and
First IMU data；The initial data includes the three-dimensional position true value and the first IMU data；
The three-dimensional position true value is mapped as longitude and latitude true value；
The longitude and latitude true value is output in the satellite navigation signal simulator, is simulated by the satellite navigation signals
Device sends out the radiofrequency signal for carrying longitude and latitude true value information as satellite navigation emulation data；
The first IMU data are output to the three-dimensional turntable, by the three-dimensional turntable according to the first IMU data
Change posture position；The IMU sensor is the appearance according to the 2nd IMU data that the posture position of the three-dimensional turntable generates
State emulates data.
Optionally, the road information that the virtual test scene uses is stored in OpenDRIVE file；It is described
OpenDRIVE file is converted to the format of the high-precision map in the map box.
Optionally, the Generation of simulating data unit further includes camera shooting head model and vision signal simulation card；
It is described to export image simulation data in real time to the map box and include:
The camera shooting head model obtains vehicle dynamic model real-time scene signal when driving and exports to described
Vision signal simulation card；
The vision signal simulation card is that image simulation data are exported to describedly to the real-time scene signal processing
Figure box.
Optionally, further includes:
Described image emulation data are emulated data with the satellite navigation to vision signal simulation card and the posture is imitated
True data synchronizes.
Optionally, the location information includes absolute position and relative position；
The received operation data of the use and image simulation data calculate location information and include:
Data are emulated according to the satellite navigation and the exhausted of the vehicle dynamic model is calculated in Attitude Simulation data
To position；
Described image is emulated the roadway characteristic in data to match with the roadway characteristic in high-precision map feature figure layer,
The relative position of the vehicle dynamic model is determined according to matching result；The high-precision map is stored in the map box
In.
A kind of map box test macro, comprising:
Generation of simulating data unit, the operation for exporting vehicle in virtual test scene in real time to map box emulate number
According to image simulation data；The operation emulation data and image simulation data are used for map box calculating location information；
Test cell is obtained for comparing the calculated location information of map box with standard location information
To test report.
In embodiments of the present invention, the fortune needed for replacing real road, to map box to calculate using virtual test scene
Row data and image data have carried out analogue simulation, do not need real vehicle participation in the process, also do not need a large amount of place
Test can improve working efficiency while reducing testing cost.
Detailed description of the invention
Fig. 1 a is a kind of exemplary structure of map box test macro provided in an embodiment of the present invention；
Fig. 1 b is map box test macro exemplary hardware architecture provided in an embodiment of the present invention；
Fig. 2 is the exemplary process diagram of test method provided in an embodiment of the present invention；
Fig. 3 is another exemplary structure of map box test macro provided in an embodiment of the present invention；
Fig. 4 a is Generation of simulating data flow chart provided in an embodiment of the present invention；
Fig. 4 b is another flow chart of Generation of simulating data provided in an embodiment of the present invention；
Fig. 4 c is the structural schematic diagram of Generation of simulating data unit provided in an embodiment of the present invention；
Fig. 4 d is image simulation signal flow figure provided in an embodiment of the present invention；
Fig. 4 e is the structural schematic diagram of vision signal simulation card provided in an embodiment of the present invention.
Specific embodiment
The present invention provides map box test method and system, to reduce testing cost, improve working efficiency.
Core of the invention thinking is: needed for replacing real road, to map box to calculate using virtual test scene
Operation data and image data have carried out analogue simulation.
A referring to Figure 1, a kind of exemplary structure of above-mentioned map box test macro include: Generation of simulating data unit 1
With test cell 2.
Wherein, Generation of simulating data unit 1 is used to export the operation of vehicle in virtual test scene in real time to map box
Emulate data and image simulation data；Operation emulation data and image simulation data are used for map box calculating location information；
Test cell 2 is surveyed for comparing the calculated location information of map box with standard location information
Examination report.
A kind of exemplary hardware architecture of map box test macro can be found in Fig. 1 b, comprising: host computer, HIL
(hardware-in-the-loop, hardware in loop) slave computer and map box.
Test cell 2 can be used as the component of simulation software or module is deployed in host computer.
In one example, data needed for map box can be generated only by simulation software, then Generation of simulating data list
Member 1 may include simulation software.
In another example, simulation software can be disposed in host computer, in addition, the next pusher side can also carry out accordingly firmly
Part deployment, then Generation of simulating data unit 1 is except may include simulation software, may also include the next pusher side for emulation hardware.
It will be based on above-mentioned general character introduction below, the embodiment of the present invention will be described in further details.
Fig. 2 shows a kind of exemplary flow of the test method based on above-mentioned map box test macro, can include:
S201: Generation of simulating data unit emulates number to the operation that map box exports vehicle in virtual test scene in real time
According to；
Refer to Fig. 3, specifically, operation emulation data may include satellite navigation emulation data (such as GPS emulation data,
Beidou emulates data) and Attitude Simulation data.
Concretely Inertial Measurement Unit (IMU) emulates data to Attitude Simulation data, yaw angle, inclination including vehicle
Angle, pitch angle and angular speed etc..
How subsequent will introduce generates satellite navigation emulation data (such as GPS emulates data) and Attitude Simulation number herein
According to.
It may include vehicle dynamic model, virtual road or even static or movement barrier (example in virtual test scene
Such as other vehicles).
Vehicle dynamic model is the virtual emulation model of real vehicles.Vehicle dynamic model belongs to Generation of simulating data
A part of unit, vehicle dynamic model operate in virtual test scene, and the initial data of operation emulation data is by vehicle
Kinetic model generates.
In one example, the road information of virtual road is stored in OpenDRIVE file.
In order to be consistent with the high-precision map in map box, OpenDRIVE file is high-precision in map box
What the format of map was converted, wherein saving the controlled maps such as the geometry of road, carriageway type, lane width
Information.
S202: Generation of simulating data unit exports image simulation data to map box in real time；
It is subsequent herein that how introduction is generated into image simulation data.
S203: map box emulates data using received operation and image simulation data calculate location information.
Under real scene, map box receive the satellite navigation informations of other equipment or part transfers, posture information and
Image data, output vehicle current absolute position and relative position.
Specifically, absolute position may include longitude and latitude；And relative position may include distance of the vehicle away from lane starting point, with
And the distance of vehicle opposite lane center line.
More specifically, satellite navigation information and posture information are as the defeated of map box Satellite inertial navigation integrated positioning system
Enter, for calculating absolute position, and image data is for determining relative position.
Similar therewith, in the present embodiment, map box is to emulate data and Attitude Simulation data according to satellite navigation
The absolute position of vehicle dynamic model is calculated, satellite navigation emulates data and Attitude Simulation data as in map box
The input of satellite-inertial guidance integrated positioning system calculates absolute position by it.
When determining relative position, map box can by image simulation data roadway characteristic and itself high-precision map it is special
Roadway characteristic in sign figure layer is matched, and the relative position of vehicle dynamic model is determined according to matching result.
It should be noted that roadway characteristic here may include lane line, traffic sign and building as road sign etc..
S204: test cell compares location information and standard location information, obtains test report.
Standard location information is the location information obtained using more accurate location technology.Refer to Fig. 3, normal bit confidence
Breath can be supplied to test cell by Generation of simulating data unit.
Comparison result can be included at least in test report.In addition, it may further comprise function description, test point describe, test is patrolled
Volume, at least one of test condition and judgment criteria.
To sum up, in the present embodiment, the fortune needed for replacing real road, to map box to calculate using virtual test scene
Row data and image data have carried out analogue simulation, do not need real vehicle participation in the process, also do not need a large amount of place
Test can improve working efficiency while reducing testing cost.
How lower mask body introduction generates operation emulation data.
Operation emulation data mainly include satellite navigation emulation data and Attitude Simulation data.
Fig. 4 a shows the exemplary flow that satellite navigation emulation data and Attitude Simulation data are generated with software mode, packet
It includes:
S41: vehicle dynamic model is run on the virtual road of virtual test scene；
The simulation of this step is that true vehicle travels on road.
The road information of virtual road is stored in OpenDRIVE file, and related introduction refers to record described previously herein,
This is not repeated.
S42: vehicle dynamic model is calculated in real time from the three-dimensional position true value and IMU number in virtual test scene
According to.
Specifically, vehicle dynamic model can calculate in real time from virtual test scene XYZ position true value with
And IMU data.
The initial data includes the three-dimensional position true value and IMU data；
S43: three-dimensional position true value is mapped as longitude and latitude true value.
XYZ coordinate can be projected in geographical co-ordinate system, obtain longitude and latitude true value.
Step S43 can be executed by vehicle dynamic model, can also be executed by special map unit.The map unit belongs to
Generation of simulating data unit.
S44: pair warp and weft degree true value and IMU data add noise；
S45: according to map box receive data communications protocol and data format, will add the longitude and latitude true value after making an uproar and
IMU is encapsulated as navigation simulation data and Attitude Simulation data respectively.
Add the longitude and latitude true value after making an uproar that can be encapsulated as navigation simulation data, adds the IMU data after making an uproar that can be encapsulated as posture imitative
True data.
S46: satellite navigation emulation data and the Attitude Simulation data are sent to map box.
Specifically, the longitude and latitude after can sending plus make an uproar according to the communications protocol and data format of map box reception data is true
Value and IMU are, it can be achieved that S45 and S46.
Step S44-46 can be executed by vehicle dynamic model, can also be executed by special transmission unit.The transmission unit
Belong to Generation of simulating data unit.
In addition to software mode, satellite navigation emulation data and Attitude Simulation data also are generated in combination with hardware, Fig. 4 b shows
Go out another exemplary flow of the satellite navigation emulation data and Attitude Simulation data that generate, comprising:
S41-S43 is not repeated.
S47: longitude and latitude true value is output in satellite navigation signal simulator, is sent out by satellite navigation signal simulator
The radiofrequency signal for carrying longitude and latitude true value information emulates data as satellite navigation.
By taking GPS as an example, satellite navigation signal simulator concretely GPS simulator.Refer to Fig. 4 c, satellite navigation signals
Simulator belongs to Generation of simulating data unit.
After longitude and latitude true value is inputted GPS simulator, GPS simulator can send out radiofrequency signal, and map box can make
Radiofrequency signal is received with antenna to obtain satellite navigation emulation data (satellite positioning information) of vehicle.
S48: being output to three-dimensional turntable for IMU data, exports IMU data to map box by IMU sensor.
In this step, IMU hardware-in-loop simulation has been carried out, three-dimensional turntable (can be described as according to the IMU data of input
One IMU data) posture is changed, and IMU sensor then (can be described as the 2nd IMU according to the posture of three-dimensional turntable generation IMU data
Data) it exports to map box.
Fig. 4 c is referred to, three-dimensional turntable and IMU sensor belong to Generation of simulating data unit, three-dimensional turntable, IMU sensing
Device, GPS simulator are located at the next pusher side.
It should be noted that the satellite navigation signals that map box uses are that real vehicle receives in existing test mode
, by taking GPS radio-frequency signal as an example, it is easy to be decayed by such environmental effects such as rain and snow weathers, and in the present embodiment, satellite
Navigation signal is that simulation generates, and need not also be tested outdoors, therefore will not be by such environmental effects.
It is described below and how to generate image simulation data.
In one example, Fig. 4 c is referred to, Generation of simulating data unit further includes sensor model (camera shooting head model)
With vision signal simulation card.It needs to illustrate to mention, sensor model (camera shooting head model) belongs to the component of host computer simulation software
Or module, and vision signal simulation card is located at the next pusher side, vision signal simulation card is mountable in HIL slave computer.
Wherein, camera shooting head model simulates true for obtaining the real-time scene signal of vehicle dynamic model when driving
Under truth condition vehicle at runtime, by vehicle-mounted camera shoot real-time scene the case where.
Fig. 4 d is referred to, real-time scene signal can be output in vision signal emulation by the port server video card HDMI/DVI
Real-time scene signal processing can be exported for image simulation data and give map box by board, vision signal simulation card.
Fig. 4 e shows a kind of exemplary structure of vision signal simulation card, comprising: video signal collection daughter board, video
It handles chip and camera signals simulates daughter board, in which:
Video reception daughter board is mainly used for receiving above-mentioned real-time scene signal；Video frequency processing chip believes real-time scene
It number is handled, such as: conversion or the interpolation segmentation of image level vertical resolution of color space and pixel color depth etc.,
And the video data in real-time scene signal is packaged according to map box received signal format and electrical characteristic, pass through
Video connecting line replaces real camera to export and simulates daughter board to camera signals；Camera signals simulate daughter board mainly for not
Same utilizing camera interface type carries out coding to the signal of video frequency processing chip output and electrical characteristic is converted, meet it can
The acquisition demand of map box.
It is aforementioned to be referred to, there is virtual road in virtual test scene, then also can in the image that real-time scene signal is included
Including lane line.The position that when designing virtual road, can change lane line is deviated to it, is changed the type of lane line
Perhaps the stationkeeping ability of map box in the case of testing lane line breakage situations such as the breakage of simulated roadway line or being distorted.
Satellite navigation emulates data, Attitude Simulation data and image simulation data collectively as the input of positioning, needs
Carry out time synchronization.
Specifically, satellite navigation emulation data, Attitude Simulation data arise directly from the data of simulation software, in slave computer
In sent by the fixed period toward map box；Image simulation data are then exported from the channel of video card.
Map box is sent after receiving satellite navigation emulation data and Attitude Simulation data into video simulation board
Request signal (video simulation board is communicated by analog signal output daughter board and map box), video simulation board receive
Image data is sent into map box after to request signal.Map box having time synchronizer, image simulation data and other
The synchronization of data can realize that the synchronization delayed time between image data and other data is less than two frames in vision signal simulation card
Time between image.
To sum up, emulation testing scheme proposed by the present invention, can in a simulated environment to map box positioning function into
Row test, can verify the effect of positioning in initial stage of development, shorten the development cycle.And it can be modified in simulation software
The environmental informations such as lane line, the abnormal conditions such as simulated roadway graticule breakage test the fault-tolerant ability of map box.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, place is referring to method part illustration
It can.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And model step, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or model, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, WD-ROM or technology
In any other form of storage medium well known in field.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of map box test method, which is characterized in that be based on map box test macro, the test macro is at least wrapped
It includes: Generation of simulating data unit and test cell；
The described method includes:
The Generation of simulating data unit emulates data to the operation that map box exports vehicle in virtual test scene in real time；
The Generation of simulating data unit exports image simulation data to the map box in real time；
The map box emulates data using received operation and image simulation data calculate location information；
The test cell compares the location information with standard location information, obtains test report.
2. the method as described in claim 1, which is characterized in that the Generation of simulating data unit includes: dynamics of vehicle mould
Type；
The vehicle dynamic model operates in the virtual test scene, is the virtual emulation model of real vehicles；It is described
The initial data of operation emulation data is generated by the vehicle dynamic model.
3. method according to claim 2, which is characterized in that the operation emulation data include: satellite navigation emulation data
With Attitude Simulation data.
4. method as claimed in claim 3, which is characterized in that the fortune for exporting virtual tested vehicle in real time to map box
Row emulates data
The vehicle dynamic model is run on the virtual road of virtual test scene；
The vehicle dynamic model calculates in the virtual test scene three-dimensional position true value and inertia of itself in real time
Measuring unit IMU data；The initial data includes the three-dimensional position true value and IMU data；
The three-dimensional position true value is mapped as longitude and latitude true value；
Noise is added to the longitude and latitude true value and IMU data；
The communications protocol and data format that data are received according to the map box, will add the longitude and latitude true value after making an uproar to be encapsulated as leading
Boat emulation data；
The communications protocol and data format that data are received according to the map box, will add the IMU data after making an uproar to be encapsulated as posture
Emulate data；
The satellite navigation emulation data and the Attitude Simulation data are sent to the map box.
5. method as claimed in claim 3, which is characterized in that the Generation of simulating data unit further includes satellite navigation signals
Simulator, three-dimensional turntable and IMU sensor；The three-dimensional turntable is connected with the IMU sensor；
The operation for exporting virtual tested vehicle in real time to map box emulates data and includes:
The vehicle dynamic model is run on the virtual road of virtual test scene；
The vehicle dynamic model calculates in the virtual test scene three-dimensional position true value and first of itself in real time
IMU data；The initial data includes the three-dimensional position true value and the first IMU data；
The three-dimensional position true value is mapped as longitude and latitude true value；
The longitude and latitude true value is output in the satellite navigation signal simulator, is sent out by the satellite navigation signal simulator
The radiofrequency signal for carrying longitude and latitude true value information is sent out as satellite navigation emulation data；
The first IMU data are output to the three-dimensional turntable, by the three-dimensional turntable according to the first IMU data movement
Posture position；
The IMU sensor is the Attitude Simulation number according to the 2nd IMU data that the posture position of the three-dimensional turntable generates
According to.
6. method as claimed in claim 3, which is characterized in that the road information that the virtual test scene uses is stored in
In OpenDRIVE file；
The OpenDRIVE file is converted to the format of the high-precision map in the map box.
7. method as described in claim 4 or 5, which is characterized in that the Generation of simulating data unit further include: camera mould
Type and vision signal simulation card；
It is described to export image simulation data in real time to the map box and include:
The camera shooting head model obtains vehicle dynamic model real-time scene signal when driving and exports to the video
Signal simulation board；
The vision signal simulation card is that image simulation data are exported to the map-case to the real-time scene signal processing
Son.
8. the method for claim 7, which is characterized in that further include:
Described image emulation data and the satellite navigation are emulated data and the Attitude Simulation number by vision signal simulation card
According to synchronizing.
9. method as claimed in claim 3, which is characterized in that the location information includes absolute position and relative position；
The received operation data of the use and image simulation data calculate location information and include:
Data are emulated according to the satellite navigation and the absolute position of the vehicle dynamic model is calculated in Attitude Simulation data
It sets；
Described image is emulated the roadway characteristic in data to match with the roadway characteristic in high-precision map feature figure layer, according to
Matching result determines the relative position of the vehicle dynamic model；The high-precision map is stored in the map box.
10. a kind of map box test macro characterized by comprising
Generation of simulating data unit, for exported in real time to map box vehicle in virtual test scene operation emulate data and
Image simulation data；The operation emulation data and image simulation data are used for map box calculating location information；
Test cell is surveyed for comparing the calculated location information of map box with standard location information
Examination report.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910243344.8A CN109883448B (en) | 2019-03-28 | 2019-03-28 | Map box testing method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910243344.8A CN109883448B (en) | 2019-03-28 | 2019-03-28 | Map box testing method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109883448A true CN109883448A (en) | 2019-06-14 |
| CN109883448B CN109883448B (en) | 2021-10-15 |
Family
ID=66934909
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910243344.8A Active CN109883448B (en) | 2019-03-28 | 2019-03-28 | Map box testing method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109883448B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110781069A (en) * | 2019-08-28 | 2020-02-11 | 腾讯科技（深圳）有限公司 | Positioning module testing method, device and equipment for automatic driving vehicle |
| CN110955976A (en) * | 2019-11-29 | 2020-04-03 | 安徽江淮汽车集团股份有限公司 | ADAS virtual simulation verification method and system |
| CN111123740A (en) * | 2019-12-19 | 2020-05-08 | 北京经纬恒润科技有限公司 | Hardware-in-loop test method and device |
| CN111522257A (en) * | 2020-05-08 | 2020-08-11 | 安徽江淮汽车集团股份有限公司 | Vehicle positioning test method, device, equipment and storage medium |
| CN112698581A (en) * | 2020-12-25 | 2021-04-23 | 东风汽车有限公司 | Vehicle-mounted signal simulator |
| CN112987593A (en) * | 2021-02-19 | 2021-06-18 | 中国第一汽车股份有限公司 | Visual positioning hardware-in-the-loop simulation platform and simulation method |
| CN113609571A (en) * | 2021-07-06 | 2021-11-05 | 中汽创智科技有限公司 | Closed loop test method and system |
| CN114063476A (en) * | 2022-01-14 | 2022-02-18 | 杭州宏景智驾科技有限公司 | Navigation auxiliary software in-loop simulation test method, system, equipment and storage medium |
| CN114563014A (en) * | 2021-12-15 | 2022-05-31 | 武汉中海庭数据技术有限公司 | Opendrive map automatic detection method and device based on simulation image |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2864655Y (en) * | 2006-01-13 | 2007-01-31 | 浙江大学 | Flight attitude three-dimensional simulation rotating table for mini unmanned copter |
| CN104460349A (en) * | 2014-11-28 | 2015-03-25 | 北京经纬恒润科技有限公司 | Real automobile in-the-loop simulation testing method, real-time simulation machine and system |
| CN105676253A (en) * | 2016-01-15 | 2016-06-15 | 武汉光庭科技有限公司 | Longitudinal positioning system and method based on city road marking map in automatic driving |
| CN106225790A (en) * | 2016-07-13 | 2016-12-14 | 百度在线网络技术（北京）有限公司 | A kind of determination method and device of unmanned vehicle positioning precision |
| CN106896392A (en) * | 2017-04-10 | 2017-06-27 | 千寻位置网络有限公司 | The method tested using ADAS technologies auxiliary positioning |
| CN107844858A (en) * | 2017-10-25 | 2018-03-27 | 驭势科技（北京）有限公司 | It is a kind of to determine location feature and the method and system of layout for intelligent driving scene |
| CN107991898A (en) * | 2016-10-26 | 2018-05-04 | 法乐第(北京)网络科技有限公司 | A kind of automatic driving vehicle simulating test device and electronic equipment |
| CN108241762A (en) * | 2016-12-26 | 2018-07-03 | 乐视汽车（北京）有限公司 | For the test system and test method of automatic Pilot analogue system |
| CN108681264A (en) * | 2018-08-10 | 2018-10-19 | 成都合纵连横数字科技有限公司 | A kind of intelligent vehicle digitalized artificial test device |
| CN108763733A (en) * | 2018-05-24 | 2018-11-06 | 北京汽车集团有限公司 | driving simulation test method, device and system |
| CN109032102A (en) * | 2017-06-09 | 2018-12-18 | 百度在线网络技术（北京）有限公司 | Automatic driving vehicle test method, device, equipment and storage medium |
| CN109491364A (en) * | 2018-11-19 | 2019-03-19 | 长安大学 | A kind of drive robot system and control method for vehicle testing |
| CN109491369A (en) * | 2018-12-05 | 2019-03-19 | 百度在线网络技术（北京）有限公司 | Performance estimating method, device, equipment and the medium of the practical control unit of vehicle |
-
2019
- 2019-03-28 CN CN201910243344.8A patent/CN109883448B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2864655Y (en) * | 2006-01-13 | 2007-01-31 | 浙江大学 | Flight attitude three-dimensional simulation rotating table for mini unmanned copter |
| CN104460349A (en) * | 2014-11-28 | 2015-03-25 | 北京经纬恒润科技有限公司 | Real automobile in-the-loop simulation testing method, real-time simulation machine and system |
| CN105676253A (en) * | 2016-01-15 | 2016-06-15 | 武汉光庭科技有限公司 | Longitudinal positioning system and method based on city road marking map in automatic driving |
| CN106225790A (en) * | 2016-07-13 | 2016-12-14 | 百度在线网络技术（北京）有限公司 | A kind of determination method and device of unmanned vehicle positioning precision |
| CN107991898A (en) * | 2016-10-26 | 2018-05-04 | 法乐第(北京)网络科技有限公司 | A kind of automatic driving vehicle simulating test device and electronic equipment |
| CN108241762A (en) * | 2016-12-26 | 2018-07-03 | 乐视汽车（北京）有限公司 | For the test system and test method of automatic Pilot analogue system |
| CN106896392A (en) * | 2017-04-10 | 2017-06-27 | 千寻位置网络有限公司 | The method tested using ADAS technologies auxiliary positioning |
| CN109032102A (en) * | 2017-06-09 | 2018-12-18 | 百度在线网络技术（北京）有限公司 | Automatic driving vehicle test method, device, equipment and storage medium |
| CN107844858A (en) * | 2017-10-25 | 2018-03-27 | 驭势科技（北京）有限公司 | It is a kind of to determine location feature and the method and system of layout for intelligent driving scene |
| CN108763733A (en) * | 2018-05-24 | 2018-11-06 | 北京汽车集团有限公司 | driving simulation test method, device and system |
| CN108681264A (en) * | 2018-08-10 | 2018-10-19 | 成都合纵连横数字科技有限公司 | A kind of intelligent vehicle digitalized artificial test device |
| CN109491364A (en) * | 2018-11-19 | 2019-03-19 | 长安大学 | A kind of drive robot system and control method for vehicle testing |
| CN109491369A (en) * | 2018-12-05 | 2019-03-19 | 百度在线网络技术（北京）有限公司 | Performance estimating method, device, equipment and the medium of the practical control unit of vehicle |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110781069A (en) * | 2019-08-28 | 2020-02-11 | 腾讯科技（深圳）有限公司 | Positioning module testing method, device and equipment for automatic driving vehicle |
| CN110955976A (en) * | 2019-11-29 | 2020-04-03 | 安徽江淮汽车集团股份有限公司 | ADAS virtual simulation verification method and system |
| CN111123740A (en) * | 2019-12-19 | 2020-05-08 | 北京经纬恒润科技有限公司 | Hardware-in-loop test method and device |
| CN111123740B (en) * | 2019-12-19 | 2024-04-16 | 北京经纬恒润科技股份有限公司 | Hardware-in-loop test method and device |
| CN111522257A (en) * | 2020-05-08 | 2020-08-11 | 安徽江淮汽车集团股份有限公司 | Vehicle positioning test method, device, equipment and storage medium |
| CN112698581A (en) * | 2020-12-25 | 2021-04-23 | 东风汽车有限公司 | Vehicle-mounted signal simulator |
| CN112987593A (en) * | 2021-02-19 | 2021-06-18 | 中国第一汽车股份有限公司 | Visual positioning hardware-in-the-loop simulation platform and simulation method |
| CN112987593B (en) * | 2021-02-19 | 2022-10-28 | 中国第一汽车股份有限公司 | Visual positioning hardware-in-the-loop simulation platform and simulation method |
| CN113609571A (en) * | 2021-07-06 | 2021-11-05 | 中汽创智科技有限公司 | Closed loop test method and system |
| CN114563014A (en) * | 2021-12-15 | 2022-05-31 | 武汉中海庭数据技术有限公司 | Opendrive map automatic detection method and device based on simulation image |
| CN114563014B (en) * | 2021-12-15 | 2023-08-04 | 武汉中海庭数据技术有限公司 | Opendrive map automatic detection method based on simulation image |
| CN114063476A (en) * | 2022-01-14 | 2022-02-18 | 杭州宏景智驾科技有限公司 | Navigation auxiliary software in-loop simulation test method, system, equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109883448B (en) | 2021-10-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109883448A (en) | Map box test method and system | |
| CN107966693B (en) | Vehicle-mounted laser radar simulation method based on depth rendering | |
| US10832478B2 (en) | Method and system for virtual sensor data generation with depth ground truth annotation | |
| US20190371003A1 (en) | Monocular vision tracking method, apparatus and non-volatile computer-readable storage medium | |
| CN109345596A (en) | Multisensor scaling method, device, computer equipment, medium and vehicle | |
| CN109493407A (en) | Realize the method, apparatus and computer equipment of laser point cloud denseization | |
| CN110969663A (en) | Static calibration method for external parameters of camera | |
| CN109931937A (en) | High-precision navigation information simulation method and system | |
| CN109917419B (en) | Depth filling dense system and method based on laser radar and image | |
| EP3872633A1 (en) | Autonomous driving vehicle simulation method in virtual environment | |
| CN109961522A (en) | Image projecting method, device, equipment and storage medium | |
| KR102578324B1 (en) | VIL system based autonomous driving function verification method | |
| CN110515110B (en) | Method, device, equipment and computer readable storage medium for data evaluation | |
| CN113763569B (en) | Image labeling method and device used in three-dimensional simulation and electronic equipment | |
| CN110337674A (en) | Three-dimensional rebuilding method, device, equipment and storage medium | |
| CN110793548A (en) | Navigation simulation test system based on virtual-real combination of GNSS receiver hardware in loop | |
| CN103257352A (en) | Method for testing double-satellite GPS closed-loop control | |
| CN115729743A (en) | Sensing system test data recharging device and method and readable storage medium | |
| CN117972885A (en) | Simulation enhancement-based space intelligent perception data generation method | |
| CN116883627B (en) | Unmanned aerial vehicle video augmented reality processing method and system | |
| CN111881121A (en) | Automatic driving data filling method and device | |
| CN114004957B (en) | Augmented reality picture generation method, device, equipment and storage medium | |
| CN116341648A (en) | Method, device, equipment and medium for training environment awareness capability of automatic driving vehicle | |
| CN112906241B (en) | Mining area automatic driving simulation model construction method, mining area automatic driving simulation model construction device, mining area automatic driving simulation model construction medium and electronic equipment | |
| CN116642511A (en) | AR navigation image rendering method and device, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 4 / F, building 1, No.14 Jiuxianqiao Road, Chaoyang District, Beijing 100020 Applicant after: Beijing Jingwei Hirain Technologies Co.,Inc. Address before: 8 / F, block B, No. 11, Anxiang Beili, Chaoyang District, Beijing 100101 Applicant before: Beijing Jingwei HiRain Technologies Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |