CN109946995A - Emulation test method, device and the intelligent terminal of automatic Pilot - Google Patents
Emulation test method, device and the intelligent terminal of automatic Pilot Download PDFInfo
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Abstract
The present invention provides a kind of emulation test method of automatic Pilot, device and intelligent terminals, this method comprises: obtaining the simulated environment needed for user is tested by the automatic Pilot that Unity3D developer component is built；Wherein, target simulator vehicle is placed in simulated environment；Target simulator vehicle is tracked, to obtain the emulation data of target simulator vehicle, and saves emulation data；Wherein, emulation data are related to simulated environment；Data conversion will be emulated into ROS data packet by Unity3D-ROS interface；Wherein, Unity3D-ROS interface is provided with customized communications protocol；Control instruction is determined according to ROS data packet, and emulation testing is carried out to target simulator vehicle according to control instruction.The error rate of communication data can be effectively reduced in the present invention, can also improve the efficiency of automatic Pilot emulation testing.
Description
Technical field
The present invention relates to automatic Pilot technical fields, emulation test method, device more particularly, to a kind of automatic Pilot
And intelligent terminal.
Background technique
The stage for being in continuous development of automatic Pilot technology at present, since automatic Pilot algorithm is carrying out real steering vectors
When it is extremely difficult, be easy to cause traffic accident, therefore generally use emulation mode and automatic Pilot algorithm is tested.But
Existing emulation test system generallys use the commercial simulation environments such as Prescan and Carsim, with ROS (Robot
Operating System, robot operating system) platform when being communicated, needs to be counted by multiple data transformation interfaces
According to conversion, by taking Precan commercial simulation environment as an example, the communication data between Prescan and ROS platform need by
PreScan-Matlab interface and Matlab-Ros interface, the multiple conversions of data not only may cause the error rate of communication data
It improves, will also reduce the efficiency of automatic Pilot emulation testing.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of emulation test method of automatic Pilot, device and intelligence are whole
End, can be effectively reduced the error rate of communication data, can also improve the efficiency of automatic Pilot emulation testing.
In a first aspect, the embodiment of the invention provides a kind of emulation test methods of automatic Pilot, comprising: it is logical to obtain user
Simulated environment needed for crossing the automatic Pilot test that Unity3D developer component is built；Wherein, mesh is placed in the simulated environment
Mark emulation vehicle；The target simulator vehicle is tracked, to obtain the emulation data of the target simulator vehicle, and is saved
The emulation data；Wherein, the emulation data are related to the simulated environment；It will be described imitative by Unity3D-ROS interface
True data is converted into ROS data packet；Wherein, the Unity3D-ROS interface is provided with customized communications protocol；According to described
ROS data packet determines control instruction, and carries out emulation testing to the target simulator vehicle according to the control instruction.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein institute
State the step of obtaining simulated environment needed for user builds automatic Pilot test by 3D developer component, comprising: develop by 3D
Simulating scenes needed for component builds automatic Pilot test；Dynamic in the simulating scenes is set by the 3D developer component
Object, and the motion state of the dynamic object is set；By the simulating scenes, the dynamic object and the dynamic object
Motion state is as simulated environment needed for automatic Pilot test.
With reference to first aspect, the embodiment of the invention provides second of possible embodiments of first aspect, wherein institute
It states and is provided with simulated sensor on target simulator vehicle；It is described that the target simulator vehicle is tracked, to obtain the mesh
The step of emulation data of mark emulation vehicle, comprising: the emulation of the target simulator vehicle is acquired by the simulated sensor
Data.
With reference to first aspect, the embodiment of the invention provides the third possible embodiments of first aspect, wherein institute
State the Unity3D-ROS interface by being provided with default communication protocol by the emulation data conversion at ROS data packet the step of,
It include: to be based on preset communication protocol, it is by the end Unity3D of Unity3D-ROS interface that the emulation data conversion is pairs of
The binary system message answered；And it will binary system report corresponding with the emulation data by the end ROS of the Unity3D-ROS interface
Text is converted to ROS data packet.
With reference to first aspect, the embodiment of the invention provides the 4th kind of possible embodiments of first aspect, wherein institute
State the step of control instruction of the target simulator vehicle is generated according to the ROS data packet, comprising: be based on preset communication protocols
ROS instruction is converted into corresponding binary system message by the end ROS of Unity3D-ROS interface by view；And by described
Binary system message corresponding with ROS instruction is converted to control instruction by the end Unity3D of Unity3D-ROS interface.
Second aspect, the embodiment of the present invention also provide a kind of simulation testing device of automatic Pilot, comprising: environmental structure mould
Block, for obtaining the simulated environment needed for user is tested by the automatic Pilot that 3D developer component is built；Wherein, the emulation ring
Target simulator vehicle is placed in border；Tracking module, for being tracked to the target simulator vehicle, to obtain the target
The emulation data of vehicle are emulated, and save the emulation data；Wherein, the emulation data are related to the simulated environment；Turn
Block is changed the mold, for passing through Unity3D-ROS interface for the emulation data conversion into ROS data packet；Wherein, the Unity3D-
ROS interface is provided with customized communications protocol；Emulation testing module, for determining control instruction according to the ROS data packet, and
Emulation testing is carried out to the target simulator vehicle according to the control instruction.
In conjunction with second aspect, the embodiment of the invention provides the first possible embodiments of second aspect, wherein institute
It states environmental structure module to be also used to: simulating scenes needed for building automatic Pilot test by 3D developer component；Pass through the 3D
The dynamic object in the simulating scenes is arranged in developer component, and the motion state of the dynamic object is arranged；By the emulation
The motion state of scene, the dynamic object and the dynamic object is as simulated environment needed for automatic Pilot test.
In conjunction with second aspect, the embodiment of the invention provides second of possible embodiments of second aspect, wherein institute
It states and is provided with simulated sensor on target simulator vehicle；The tracking module is also used to: acquiring institute by the simulated sensor
State the emulation data of target simulator vehicle.
The third aspect, the embodiment of the present invention also provide a kind of intelligent terminal, and the intelligent terminal includes memory and place
Device is managed, the memory is used to store the 4th kind of possible embodiment for supporting processor to execute first aspect to first aspect
The program of any one the method, the processor is configured to for executing the program stored in the memory.
Fourth aspect, the embodiment of the present invention also provide a kind of computer storage medium, for being stored as first aspect to
Computer software instructions used in any one of 4th kind of possible embodiment of one side the method.
The embodiment of the present invention bring it is following the utility model has the advantages that
Emulation test method, device and the intelligent terminal of automatic Pilot provided in an embodiment of the present invention obtain pass through first
The simulated environment (simulated environment is placed with target simulator vehicle) that Unity3D simulating developer component is built, by target simulator
Vehicle is tracked to obtain the emulation data of target simulator vehicle, will be imitated in the Unity3D-ROS interface for being provided with communication protocol
After true data is converted to ROS data packet, corresponding control instruction is generated, to imitate according to control instruction target simulator vehicle
True test.The embodiment of the present invention utilizes preset communication protocol reality by building simulated environment using Unity3D developer component
Communication between existing Unity3D developer component and ROS platform, reduces the conversion times of data in communication process, to effectively drop
The error rate of low pass letter data also contributes to the efficiency of automatic Pilot emulation testing.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention are in specification, claims
And specifically noted structure is achieved and obtained in attached drawing.
To enable the above objects, features and advantages of the present invention 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
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of flow diagram of the emulation test method of automatic Pilot provided in an embodiment of the present invention；
Fig. 2 is the flow diagram of the emulation test method of another automatic Pilot provided in an embodiment of the present invention；
Fig. 3 is the flow diagram of the emulation test method of another automatic Pilot provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of the simulation testing device of automatic Pilot provided in an embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram of intelligent terminal provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
In view of, when being communicated, needing to carry out multiple data conversion in current automatic Pilot emulation test system,
The error rate that may cause communication data improves, and reduces the efficiency of automatic Pilot emulation testing, is based on this, the embodiment of the present invention
Emulation test method, device and the intelligent terminal of a kind of automatic Pilot provided, can be effectively reduced the error rate of communication data,
The efficiency of automatic Pilot emulation testing can also be improved.
For the emulation convenient for understanding the present embodiment, first to a kind of automatic Pilot disclosed in the embodiment of the present invention
Test method describes in detail, a kind of flow diagram of the emulation test method of automatic Pilot shown in Figure 1, the party
Method may comprise steps of:
Step S102 obtains the simulated environment needed for user is tested by the automatic Pilot that Unity3D developer component is built.
Wherein, Unity3D is professional 3D (3Dimensions, a three-dimensional) game engine, is developed using Unity3D
Component can simulated environment true with quick Fabrication frame out, meeting physical motion rule, and may include in simulated environment
Emulation building, emulation road, emulation garage, emulation traffic sign, emulation barrier, emulation pedestrian and other emulation vehicles etc..
In addition, being placed with target simulator vehicle in simulated environment, and the test of automatic Pilot is carried out to the target simulator vehicle.
Step S104 tracks target simulator vehicle, to obtain the emulation data of target simulator vehicle, and saves institute
State emulation data.
Wherein, emulation data are related to simulated environment, and by tracking to target simulator vehicle, available target is imitative
Ambient image and driving parameters during true Vehicular automatic driving etc. emulate data.
Further, above-mentioned emulation data are saved to predeterminable area, in order to test after to target simulator vehicle
Automatic Pilot emulation testing analyzed, so that the problem of each automatic Pilot emulation testing, is analyzed and be positioned, into
And automatic Pilot algorithm is improved.
Step S106 will emulate data conversion into ROS data packet by Unity3D-ROS interface.
In view of can not directly carry out data interaction between Unity3D and ROS platform, therefore pass through Unity3D-ROS
Interface realizes the communication between Unity3D and ROS platform.Wherein, Unity3D-ROS interface is provided with customized communications protocol,
In one embodiment, customized one is based on TCP (Transmission Control Protocol, biography transport control protocol
View) communications protocol, be based on the Transmission Control Protocol, realize the data conversion between Unity3D and ROS platform, when specific implementation,
The end Unity3D of Unity3D-ROS interface is for realizing the conversion between emulation data and binary system message, and the end ROS is for real
Conversion between existing binary system message and ROS data packet, wherein binary system message is by TCP network at the end Unity3D and the end ROS
Between transmit.
Step S108 determines control instruction according to ROS data packet, and is imitated according to control instruction target simulator vehicle
True test.
Wherein, control instruction can be used for controlling target simulator vehicle and be moved in above-mentioned simulated environment, thus real
The automatic Pilot emulation testing of existing target simulator vehicle.In specific implementation, ROS platform generates corresponding according to ROS data packet
ROS instruction, it is after ROS instruction is converted into the identifiable control instruction of Unity3D by Unity3D-ROS interface, i.e., controllable
Target simulator vehicle is moved.
The emulation test method of automatic Pilot provided in an embodiment of the present invention obtains pass through Unity3D simulating developer first
The simulated environment (simulated environment is placed with target simulator vehicle) that component is built, by being tracked to obtain to target simulator vehicle
The emulation data of target simulator vehicle are converted to ROS number for data are emulated in the Unity3D-ROS interface for being provided with communication protocol
After packet, corresponding control instruction is generated, to carry out emulation testing to target simulator vehicle according to control instruction.The present invention is implemented
Example realizes Unity3D developer component using preset communication protocol by building simulated environment using Unity3D developer component
With the communication between ROS platform, the conversion times of data in communication process are reduced, so that the error of communication data be effectively reduced
Rate also contributes to the efficiency of automatic Pilot emulation testing.
For convenient for understanding above-described embodiment, the embodiment of the invention also provides the emulation of another automatic Pilot surveys
Method for testing, the flow diagram of the emulation test method of another automatic Pilot shown in Figure 2, this method may include with
Lower step:
Step S202, simulating scenes needed for building automatic Pilot test by 3D developer component.
Wherein, simulating scenes may include stationary body, such as emulation building, emulation road, emulation garage, emulation traffic
Mark or emulation barrier etc. can also include static emulation pedestrian and emulation vehicle.In addition, can not only be developed by 3D
Component builds different simulating scenes, and public scene can also be used as simulating scenes.
Step S204 is arranged the dynamic object in simulating scenes by 3D developer component, and the movement of dynamic object is arranged
State.
Further include dynamic object not there is only various stationary bodies in actual environment, for example, moving traffic or
The pedestrian etc. to go across the road, therefore also need to set the motion state of dynamic object and dynamic object by above-mentioned 3D developer component
Set, with obtain it is more true, more meet the simulated environment of physical motion rule, and then be bonded the emulation testing of automatic Pilot more
It is practical.Wherein, emulation pedestrian and emulation vehicle etc. dynamic objects can according to control command with the mode close to physics law into
Row movement, can also move along fixation locus and move with random track.
Step S206, using the motion state of simulating scenes, dynamic object and dynamic object as needed for automatic Pilot test
Simulated environment.
Step S208, the emulation data of target simulator vehicle are acquired by simulated sensor, and save the emulation data.
Wherein, simulated sensor is provided on target simulator vehicle.
In one embodiment, such as monocular cam can be set on target simulator vehicle, binocular camera, swashed
The emulation such as optical radar, millimetre-wave radar, IMU (Inertial measurement unit, Inertial Measurement Unit) and odometer pass
Sensor, to obtain every emulation data of target simulator vehicle.Wherein, monocular cam and binocular camera are used to acquisition mesh
The ambient image of mark emulation vehicle in the process of moving, laser radar and millimetre-wave radar are for measuring target simulator vehicle and imitating
The distance between other objects in true environment, IMU are used to measure the angular speed and acceleration of target simulator vehicle, and odometer is used
In the distance of measurement target simulator vehicle driving.
Furthermore it is possible to the log system for saving above-mentioned emulation data be arranged, specifically, log system can be used for remembering
Status information (that is, aforementioned emulation data) during record automatic Pilot emulation testing in Unity3D simulated environment, the state
Information includes but is not limited to figure, the point number such as cloud or vehicle parameter (may include driving parameters) of generation during emulation testing
According to.After emulation testing, log system automatically generates journal file, by imitative during journal file acquisition emulation testing
True data, to carry out case study and positioning to the emulation testing of automatic Pilot based on emulation data.
Step S210 is based on preset communication protocol, by the end Unity3D of Unity3D-ROS interface by the emulation
Data conversion is at corresponding binary system message；And by the end ROS of Unity3D-ROS interface will with emulation data corresponding two into
Message processed is converted to ROS data packet.
Step S212 generates ROS instruction according to ROS data packet.
Automatic Pilot algoritic module is provided in ROS platform, after ROS platform obtains above-mentioned identifiable ROS data packet,
Automatic Pilot algoritic module in ROS platform analyzes ROS data packet, and calculates corresponding ROS instruction.
Step S214 is based on preset communication protocol, is turned ROS instruction by the end ROS of Unity3D-ROS interface
Change corresponding binary system message into；And it will binary system corresponding with ROS instruction by the end Unity3D of Unity3D-ROS interface
Message is converted to control instruction.
Step S216 carries out emulation testing to target simulator vehicle according to control instruction.
Because Unity3D developer component can not identify above-mentioned ROS instruction, it is therefore desirable to will using Unity3D-ROS interface
ROS instruction is converted to the identifiable control instruction of Unity3D developer component, to realize the control to target simulator vehicle.
The emulation test method of the automatic Pilot provided based on the above embodiment, the embodiment of the present invention also mentions for ease of understanding
The emulation test method of another automatic Pilot has been supplied, the emulation test method of another automatic Pilot shown in Figure 3
Flow diagram, this method are executed by above-mentioned Unity3D developer component, and this approach includes the following steps (1) to (5):
Step (1) initializes simulated environment.When specific implementation, according to test target, simulated environment needed for selecting and emulation
Sensor, and initialize simulated environment and Unity3D-ROS interface.
Step (2), simulated sensor acquire the emulation data of target simulator vehicle.
Emulation data are sent to Unity3D-ROS interface, so that Unity3D-ROS interface will emulate data by step (3)
It is converted into the identifiable ROS data packet of ROS platform.Wherein, the emulation data of the target simulator vehicle of simulated sensor acquisition, meeting
Passing through Unity3D-ROS interface conversion with fixed frequency is the publication of ROS data packet.
Step (4) receives the control instruction that Unity3D-ROS interface is sent.Wherein, ROS platform is directed to above-mentioned ROS data
Packet generates ROS instruction, and ROS instruction is converted to the identifiable control of Unity3D developer component by Unity3D-ROS interface
Instruction.
Step (5) controls target simulator vehicle according to control instruction and is moved in simulated environment.It is implementing
When, Ying Jixu is with the emulation data of fixed frequency acquisition target simulator vehicle, so that automatic Pilot algorithm is based on current emulation number
It is instructed according to corresponding ROS is generated in time, and then the movement of target simulator vehicle is made more to meet current simulated environment.
Further, after the completion of the emulation testing of automatic Pilot, log system can be transferred and check emulation testing process
In emulation data, for analyzing the simulation results and orientation problem.
In conclusion the emulation test method of automatic Pilot provided in an embodiment of the present invention can achieve following features at least
One of:
(1) during Function for Automatic Pilot algorithm development, compared to real steering vectors, simulated environment has positioning problems and fast
The advantage of fast iteration.
(2) for the test of Function for Automatic Pilot, compared to real steering vectors, simulated environment is free from risk and Test coverage
The high advantage of rate.
(3) in algorithm development test process, simulated environment and target simulator vehicle can intuitively be shown by Unity3D
Motion state.
(4) embodiment of the present invention according to the difference of automatic Pilot algorithm function, can adjust Unity3D simulating scenes and
Different algorithms is tested in simulated sensor, realization.
(5) error rate of communication data can be effectively reduced in the embodiment of the present invention, can also improve automatic Pilot emulation and survey
The efficiency of examination.
For the emulation test method for the automatic Pilot that previous embodiment provides, the embodiment of the invention also provides one kind certainly
The dynamic simulation testing device driven, a kind of structural schematic diagram of the simulation testing device of automatic Pilot shown in Figure 4, the dress
It sets including following part:
Environmental structure module 402 is imitated needed for the automatic Pilot test that user is built by 3D developer component for obtaining
True environment；Wherein, target simulator vehicle is placed in simulated environment.
Tracking module 404, for being tracked to target simulator vehicle, to obtain the emulation data of target simulator vehicle,
And save the emulation data；Wherein, emulation data are related to simulated environment.
Conversion module 406, for passing through Unity3D-ROS interface for the emulation data conversion into ROS data packet；Its
In, Unity3D-ROS interface is provided with customized communications protocol.
Emulation testing module 408, for determining control instruction according to ROS data packet, and it is imitative to target according to control instruction
True vehicle carries out emulation testing.
The acquisition of the simulation testing device of automatic Pilot provided in an embodiment of the present invention, first environmental structure module passes through
The simulated environment (simulated environment is placed with target simulator vehicle) that Unity3D simulating developer component is built, passes through tracking module pair
Target simulator vehicle is tracked to obtain the emulation data of target simulator vehicle, and conversion module is being provided with communication protocol
Unity3D-ROS interface will emulate after data are converted to ROS data packet, and emulation testing module generates corresponding control instruction, with
Emulation testing is carried out to target simulator vehicle according to control instruction.The embodiment of the present invention using Unity3D developer component by being taken
Simulated environment is built, and realizes the communication between Unity3D developer component and ROS platform using preset communication protocol, is reduced logical
The conversion times of data during letter also contribute to automatic Pilot emulation so that the error rate of communication data be effectively reduced
The efficiency of test.
In one embodiment, above-mentioned environmental structure module 402 is also used to build automatic Pilot by 3D developer component
Simulating scenes needed for test, and the dynamic object in simulating scenes is arranged by 3D developer component, and dynamic object is set
Motion state, using the motion state of simulating scenes, dynamic object and dynamic object as emulation ring needed for automatic Pilot test
Border.
In one embodiment, simulated sensor is provided on above-mentioned target simulator vehicle.Further, above-mentioned tracking
Module 404 is also used to acquire the emulation data of target simulator vehicle by simulated sensor.
The technical effect and preceding method embodiment phase of device provided by the embodiment of the present invention, realization principle and generation
Together, to briefly describe, Installation practice part does not refer to place, can refer to corresponding contents in preceding method embodiment.
The equipment is a kind of intelligent terminal, specifically, the intelligent terminal includes processor and storage device；On storage device
It is stored with computer program, computer program executes any one institute of embodiment as described above when being run by the processor
The method stated.
Fig. 5 is a kind of structural schematic diagram of intelligent terminal provided in an embodiment of the present invention, which includes: place
Device 50 is managed, memory 51, bus 52 and communication interface 53, the processor 50, communication interface 53 and memory 51 pass through bus
52 connections；Processor 50 is for executing the executable module stored in memory 51, such as computer program.
Wherein, memory 51 may include high-speed random access memory (RAM, Random Access Memory),
It may further include non-labile memory (non-volatile memory), for example, at least a magnetic disk storage.By extremely
A few communication interface 53 (can be wired or wireless) is realized logical between the system network element and at least one other network element
Letter connection, can be used internet, wide area network, local network, Metropolitan Area Network (MAN) etc..
Bus 52 can be isa bus, pci bus or eisa bus etc..The bus can be divided into address bus, data
Bus, control bus etc..Only to be indicated with a four-headed arrow convenient for indicating, in Fig. 5, it is not intended that an only bus or
A type of bus.
Wherein, memory 51 is for storing program, and the processor 50 executes the journey after receiving and executing instruction
Sequence, method performed by the device that the stream process that aforementioned any embodiment of the embodiment of the present invention discloses defines can be applied to handle
In device 50, or realized by processor 50.
Processor 50 may be a kind of IC chip, the processing capacity with signal.During realization, above-mentioned side
Each step of method can be completed by the integrated logic circuit of the hardware in processor 50 or the instruction of software form.Above-mentioned
Processor 50 can be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network
Processor (Network Processor, abbreviation NP) etc.；It can also be digital signal processor (Digital Signal
Processing, abbreviation DSP), specific integrated circuit (Application Specific Integrated Circuit, referred to as
ASIC), ready-made programmable gate array (Field-Programmable Gate Array, abbreviation FPGA) or other are programmable
Logical device, discrete gate or transistor logic, discrete hardware components.It may be implemented or execute in the embodiment of the present invention
Disclosed each method, step and logic diagram.General processor can be microprocessor or the processor is also possible to appoint
What conventional processor etc..The step of method in conjunction with disclosed in the embodiment of the present invention, can be embodied directly in hardware decoding processing
Device executes completion, or in decoding processor hardware and software module combination execute completion.Software module can be located at
Machine memory, flash memory, read-only memory, programmable read only memory or electrically erasable programmable memory, register etc. are originally
In the storage medium of field maturation.The storage medium is located at memory 51, and processor 50 reads the information in memory 51, in conjunction with
Its hardware completes the step of above method.
The computer program of the emulation test method of automatic Pilot provided by the embodiment of the present invention, device and intelligent terminal
Product, the computer readable storage medium including storing the executable non-volatile program code of processor are computer-readable
It is stored with computer program on storage medium, is executed described in previous methods embodiment when which is run by processor
Method, specific implementation can be found in embodiment of the method, details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
Specific work process, can be with reference to the corresponding process in previous embodiment, and details are not described herein.
The computer program product of readable storage medium storing program for executing provided by the embodiment of the present invention, including storing program code
Computer readable storage medium, the instruction that said program code includes can be used for executing previous methods side as described in the examples
Method, specific implementation can be found in embodiment of the method, and details are not described herein.
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, technical solution of the present invention 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.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that 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.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, 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 technical solution of the embodiment of the present invention, should all cover in protection of the invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of emulation test method of automatic Pilot characterized by comprising
Obtain the simulated environment needed for user is tested by the automatic Pilot that Unity3D developer component is built；Wherein, the emulation
Target simulator vehicle is placed in environment；
The target simulator vehicle is tracked, to obtain the emulation data of the target simulator vehicle, and is saved described imitative
True data；Wherein, the emulation data are related to the simulated environment；
By Unity3D-ROS interface by the emulation data conversion at ROS data packet；Wherein, the Unity3D-ROS interface
It is provided with customized communications protocol；
Control instruction is determined according to the ROS data packet, and the target simulator vehicle is emulated according to the control instruction
Test.
2. the method according to claim 1, wherein the acquisition user is built by 3D developer component and is driven automatically
The step of simulated environment needed for sailing test, comprising:
Simulating scenes needed for building automatic Pilot test by 3D developer component；
The dynamic object in the simulating scenes is set by the 3D developer component, and the movement shape of the dynamic object is set
State；
Using the motion state of the simulating scenes, the dynamic object and the dynamic object as needed for automatic Pilot test
Simulated environment.
3. the method according to claim 1, wherein being provided with simulated sensor on the target simulator vehicle；
It is described that the target simulator vehicle is tracked, the step of to obtain the emulation data of the target simulator vehicle, packet
It includes:
The emulation data of the target simulator vehicle are acquired by the simulated sensor.
4. the method according to claim 1, wherein the Unity3D- by being provided with default communication protocol
ROS interface by the emulation data conversion at ROS data packet the step of, comprising:
Based on preset communication protocol, by the end Unity3D of Unity3D-ROS interface by the emulation data conversion at correspondence
Binary system message；And it will binary system message corresponding with the emulation data by the end ROS of the Unity3D-ROS interface
Be converted to ROS data packet.
5. the method according to claim 1, wherein described imitative according to the ROS data packet generation target
The step of control instruction of true vehicle, comprising:
ROS instruction is generated according to the ROS data packet；
Based on preset communication protocol, ROS instruction is converted into corresponding two by the end ROS of Unity3D-ROS interface
System message；And it will binary system message corresponding with ROS instruction by the end Unity3D of the Unity3D-ROS interface
Be converted to control instruction.
6. a kind of simulation testing device of automatic Pilot characterized by comprising
Environmental structure module, for obtaining the simulated environment needed for user is tested by the automatic Pilot that 3D developer component is built；
Wherein, target simulator vehicle is placed in the simulated environment；
Tracking module, for being tracked to the target simulator vehicle, to obtain the emulation data of the target simulator vehicle,
And save the emulation data；Wherein, the emulation data are related to the simulated environment；
Conversion module, for passing through Unity3D-ROS interface for the emulation data conversion into ROS data packet；Wherein, described
Unity3D-ROS interface is provided with customized communications protocol；
Emulation testing module, for determining control instruction according to the ROS data packet, and according to the control instruction to the mesh
Mark emulation vehicle carries out emulation testing.
7. device according to claim 6, which is characterized in that the environmental structure module is also used to:
Simulating scenes needed for building automatic Pilot test by 3D developer component；
The dynamic object in the simulating scenes is set by the 3D developer component, and the movement shape of the dynamic object is set
State；
Using the motion state of the simulating scenes, the dynamic object and the dynamic object as needed for automatic Pilot test
Simulated environment.
8. device according to claim 6, which is characterized in that be provided with simulated sensor on the target simulator vehicle；
The tracking module is also used to:
The emulation data of the target simulator vehicle are acquired by the simulated sensor.
9. a kind of intelligent terminal, which is characterized in that the intelligent terminal includes memory and processor, and the memory is used for
Storage supports processor perform claim to require the program of any one of 1 to 5 the method, the processor is configured to for executing
The program stored in the memory.
10. a kind of computer storage medium, which is characterized in that for being stored as used in any one of claim 1 to 5 the method
Computer software instructions.
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