CN109993849A - A kind of automatic Pilot test scene render analog method, apparatus and system - Google Patents
A kind of automatic Pilot test scene render analog method, apparatus and system Download PDFInfo
- Publication number
- CN109993849A CN109993849A CN201910223012.3A CN201910223012A CN109993849A CN 109993849 A CN109993849 A CN 109993849A CN 201910223012 A CN201910223012 A CN 201910223012A CN 109993849 A CN109993849 A CN 109993849A
- Authority
- CN
- China
- Prior art keywords
- scene
- vehicle
- automatic pilot
- model
- reproduction
- 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.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0808—Diagnosing performance data
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Geometry (AREA)
- General Engineering & Computer Science (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of automatic Pilot test scene render analog method, apparatus and system, which includes: the scene reproduction model for constructing scene to be reproduced；According to scene reproduction model, controls automatic Pilot vehicle and unmanned testing vehicle realizes scene reproduction in checkout area；Automatic Pilot vehicle and data information of the unmanned testing vehicle in scene reproducing processes are obtained in real time.Automatic Pilot test scene render analog system includes control centre, checkout area and the controlled vehicle in checkout area, controlled vehicle includes automatic Pilot vehicle and unmanned testing vehicle, operation has automatic Pilot test scene render analog device on the server of control centre, which includes that model of place building module, scene reproduction realization module and result obtain module.The present invention can correspond to true Driving Scene, realize reproduction of the true Driving Scene in checkout area, and reproduction and accident including normal driving process occur the driving procedure in N seconds first and reproduce.
Description
Technical field
The present invention relates to automatic Pilot vehicle the field of test technology more particularly to a kind of automatic Pilot test scene render analogs
Method, apparatus and system.
Background technique
With the continuous development of artificial intelligence and the communication technology, automobile is gradually shared to intelligent, net connectionization, trip mode
The direction of change is developed, and automatic Pilot vehicle has become important one of development trend.Before the test of upper public way, automatic Pilot
Vehicle needs to carry out a large amount of, different levels testing experiments in checkout area environment, but checkout area environment be difficult to cover it is all
Reality scene.Therefore, when automatic Pilot vehicle goes wrong in true Driving Scene or even accident occurs, one kind is needed to have
The means of effect parse problem or accident, and to find the defects of system and problem in time, this is to ensure that automatic Pilot vehicle
The important means of itself functional safety and system reliability.
Due to the diversity, complexity, instantaneity of traffic accident, to explain the movement feelings of accident vehicle in the process
The reason of condition and accident occur needs using a large amount of basic data, and such as various sensing datas, the speed of vehicle accelerate/subtracts
The data such as speed, braking.And the information for data of on-site collection/leave is not able to satisfy the needs of analysis, therefore checkout area can
It controls and true reappearance is carried out to the overall process of traffic accident under environment, be the important hand for therefrom finding out road traffic accident mechanism of production
Section.
Existing traffic scene reproducting method is mostly the analogue system based on computer software.With application No. is
It 200810038172.2, is to collect now first for the patent of entitled " Vehicle-pedestrian impact accident reconstruction system "
Field data is then based on dummy model, auto model, kinetic collision model and emulates to accident process, by adjusting mould
Shape parameter, so that simulation result is consistent with field data, and accident scene and accident process is dynamic with three-dimensional on the display apparatus
The form reproducing of picture comes.Application No. is 201810374703.9, entitled " the vehicle things based on high accuracy positioning data
Therefore scene reproduction " patent it is similar with above-mentioned patent, difference be to collect data positioning accuracy improve.
There is very big deficiency for the crash analysis of automatic Pilot vehicle in existing traffic scene reproducting method, such as: Bu Nengjin
Act event field data acquisition；The model proposed has done several simplification, and the selection of model parameter is mostly empirically, has
Biggish randomness cannot truly reproduce actual scene completely.Therefore, existing traffic scene reproducting method is mostly towards friendship
The virtual reappearance of logical accident responsibility identification, such scene reproduction system handle traffic accident dispute mainly as traffic police department, recognize
Determine the theoretical foundation of accident responsibility, and it is lower for the accident occurrence cause of automatic Pilot vehicle analysis practicability.
Summary of the invention
In order to solve the problems in the existing technology, the embodiment of the present invention provides a kind of automatic Pilot test scene reproduction
Analogy method, apparatus and system.
In a first aspect, a kind of automatic Pilot test scene render analog method provided in an embodiment of the present invention, the method
Include:
Construct the scene reproduction model of scene to be reproduced；
According to the scene reproduction model, controls automatic Pilot vehicle and unmanned testing vehicle realizes scene again in checkout area
It is existing；
The data information of the automatic Pilot vehicle and unmanned testing vehicle in scene reproducing processes is obtained in real time.
Preferably, the scene reproduction model of the building scene to be reproduced, comprising:
Extract the field data of the scene to be reproduced；
According to the field data, the scene overall process to be reproduced is emulated, obtains the preliminary imitative of the scene to be reproduced
True mode；
Model parameter is adjusted, optimizes the preliminary simulation model until coincideing substantially with the scene to be reproduced, is imitated
True mode；
According to the simulation model, the sequence of instructions for controlling the automatic Pilot vehicle and the operation of unmanned testing vehicle is generated
Column；
Described instruction sequence is sent respectively to the automatic Pilot vehicle and unmanned testing vehicle, so that the automatic Pilot vehicle
Scene reproduction is carried out in the checkout area with unmanned testing vehicle；
According to the scene reproduction as a result, model parameter is adjusted, until scene reproduction result and the scene to be reproduced
It coincide.
Preferably, the method also includes:
The data information and the scene reproduction model for comparing the scene reproduction, analyze the automatic Pilot vehicle to again
Vehicle parameter change procedure in live scape determines the reason of accident occurs.
Second aspect, a kind of automatic Pilot test scene render analog device provided in an embodiment of the present invention, comprising:
Model of place constructs module, for constructing the scene reproduction model of scene to be reproduced；
Scene reproduction realizes module, for controlling automatic Pilot vehicle and unmanned testing according to the scene reproduction model
Vehicle realizes scene reproduction in checkout area；
As a result module is obtained, for obtaining the automatic Pilot vehicle and unmanned testing vehicle in real time in scene reproducing processes
Data information.
Preferably, the model of place building module includes:
Field data collection submodule, for extracting the field data of the scene to be reproduced；
Scene simulation reproduces submodule, for emulating the scene overall process to be reproduced according to the field data, obtains
The preliminary simulation model of the scene to be reproduced；
Simulation model optimizes submodule, for adjusting model parameter, optimize the preliminary simulation model until with it is described to
Reconstruction of scenes coincide substantially, obtains simulation model；
Model of place interpreter, for generating for controlling the automatic Pilot vehicle and nobody according to the simulation model
The instruction sequence of test carriage operation；
Instruction publication submodule, for described instruction sequence to be sent respectively to the automatic Pilot vehicle and unmanned testing
Vehicle, so that the automatic Pilot vehicle and unmanned testing vehicle carry out scene reproduction in the checkout area；
Parameter adjusting submodule, for according to the scene reproduction as a result, adjustment model parameter, until scene reproduction knot
Fruit and the scene to be reproduced are coincide.
Preferably, further includes:
Data analysis module analyzes institute for comparing the data information and the scene reproduction model of the scene reproduction
Vehicle parameter change procedure of the automatic Pilot vehicle in scene to be reproduced is stated, determines the reason of accident occurs.
The third aspect, the embodiment of the invention also provides a kind of automatic Pilot test scene render analog systems, comprising: control
Center, checkout area and the controlled vehicle in the checkout area processed, the control centre and the controlled vehicle pass through survey
Examination hall car networking environment carries out real-time information interaction, wherein the controlled vehicle includes automatic Pilot vehicle and unmanned testing vehicle；
Any automatic Pilot test scene render analog device runs on the control centre in second aspect
On server.
Preferably, the system also includes:
Graphic user interface for realizing man-machine interactive operation, and receives the result of interactive operation process.
Automatic Pilot test scene render analog method, apparatus and system provided in an embodiment of the present invention, the analogy method
It include: the scene reproduction model for constructing scene to be reproduced；According to the scene reproduction model, control automatic Pilot vehicle and nobody
Test carriage realizes scene reproduction in checkout area；The automatic Pilot vehicle and unmanned testing vehicle are obtained in real time in scene reproducing processes
In data information.Automatic Pilot test scene render analog system includes control centre, checkout area and is located in checkout area
Controlled vehicle, controlled vehicle includes automatic Pilot vehicle and unmanned testing vehicle, and there is operation on the server of control centre drives automatically
Test scene render analog device is sailed, which includes model of place building module, scene reproduction realization module and result
Obtain module.The present invention due to using the technology described above, first by scenario building scene reproduction model to be reproduced, then according to field
Scape rendering model reproduces scene to be reproduced in authentic testing field, can correspond to true Driving Scene, realizes true
Reproduction of the Driving Scene in checkout area, reproduction and accident including normal driving process occur before N seconds (30 seconds such as preceding)
The reason of interior driving procedure reproduces, can be to explain the motion conditions and accident generation of accident vehicle in the process of moving, provides
A large amount of basic data becomes the important tool of the accident parsing in true Driving Scene.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
It can the limitation present invention.
Detailed description of the invention
In order to illustrate more clearly of technical solution of the present invention, letter will be made to attached drawing needed in the embodiment below
Single introduction, it should be apparent that, for those of ordinary skills, without creative efforts, also
Other drawings may be obtained according to these drawings without any creative labor.
Fig. 1 is a kind of structural schematic diagram of automatic Pilot test scene render analog system provided in an embodiment of the present invention；
Fig. 2 is a kind of flow diagram of automatic Pilot test scene render analog method provided in an embodiment of the present invention；
Fig. 3 is a kind of flow diagram of specific embodiment of step S111 provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of automatic Pilot test scene render analog device provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram that a kind of model of place provided in an embodiment of the present invention constructs module.
Specific embodiment
In order to solve the problems, such as that the prior art is lower to the accident occurrence cause analysis practicability of automatic Pilot vehicle, the present invention
A kind of automatic Pilot test scene render analog system that embodiment provides, can be used in automatic Pilot vehicle normal driving process
Scene reproduction and occur traffic accident when scene reproduction, in embodiments of the present invention, driving when traffic accident occurs
It crosses and is described for Cheng Zaixian.
Referring to Fig. 1, a kind of automatic Pilot test scene render analog method provided in an embodiment of the present invention, based in control
The automatic Pilot test scene render analog system that the heart 01, checkout area 2 and the controlled vehicle 21 in checkout area are constituted,
In, controlled vehicle 21 includes automatic Pilot vehicle 211 and unmanned testing vehicle 212.
Control centre 01 is equivalent to the brain of entire checkout area, by way of human-computer interaction, it can be achieved that entire automatic
The complete monitoring of drive test procedure and long-range accurate control.Control centre 01 is provided with server 1, server 1 with drive automatically
It sails vehicle and unmanned testing vehicle communicates to connect.
In the specific implementation process, control centre further includes communication module；Automatic Pilot vehicle and unmanned testing vehicle pass through survey
V2I (Vehicle To Infrastructure) module and control centre in the car networking environment of examination hall communicate to connect, thus real
Real-time information interaction between existing control centre and automatic Pilot vehicle, unmanned testing vehicle.Pass through the car networking environment of checkout area, control
Center processed can also be acquired and be obtained in real time to a variety of test datas at scene, and carry out big data processing, in next step
Assay use.
In the embodiment of the present invention, automatic Pilot vehicle 211 is used as tested vehicle, realizes the automatic Pilot vehicle in scene to be reproduced
Operational process；212 one side of unmanned testing vehicle on the other hand can also for cooperating automatic Pilot vehicle 211 to construct reconstruction of scenes
To collect various data when scene reproduction.In the specific implementation process, control centre can also assist more test carriages
With control, increasingly complex traffic scene is realized.Due to unmanned testing vehicle analog a variety of models (including cart and pedestrian),
Thus while the present embodiment is illustrated by taking the traffic accident scene of " vehicle-vehicle " as an example, be also suitable for " vehicle-people " etc. its
Its traffic accident scene.Wherein, the structure and function of unmanned testing vehicle 212 can be found in application No. is 201810796590.1 it is special
Benefit application, the unmanned testing vehicle have the following characteristics that
(1) using deformable structure design (chassis is scalable, vehicle shell is Ke Kuaisugenghuan), has simulation various (packet
Include bicycle and pedestrian) function.
(2) it is designed using Collsion proof safety, can avoid or effectively reduce to be hurt by damage.
(3) multiple sensors and calculation control unit are carried, can make it in the venue according to predetermined by remotely controlling
Track accurate movement, to realize that the target vehicle under certain special scenes is tested.
In embodiments of the present invention, operation has automatic Pilot test scene render analog device 11 in server 1, drives automatically
Test scene render analog device 11 is sailed for realizing the automatic Pilot test scene render analog method in the embodiment of the present invention.
In a kind of possible embodiment, display module (being not marked in figure) is can be set in control centre, for show to
The travel situations of vehicle in reconstruction of scenes.Display module can be the display devices such as touch screen, liquid crystal display, can show thing
Therefore the travel situations of N seconds first (such as 30 seconds) and accident vehicle when occurring；Display pattern includes following function: scene broadcasting in real time,
Historical data playback, freedom/multi-angle observation, ranging；Playback function includes normal playback, quick playback, plays back at a slow speed, suspends
Playback, the playback of part accident vehicle, F.F., rewind, given time playback；Scene reproduction mode includes that two dimension is presented (high-precision
Track of vehicle is shown on degree map) and/or three-dimensional presentation (3-D cartoon formula), the result of scene reproduction, which can also pass through, shows mould
Block is shown.
In alternatively possible embodiment, graphic user interface is can be set in control centre, for realizing man-machine friendship
Mutual formula operation, and receive the result of interactive operation process.In the specific implementation process, it establishes each functional module and shares unification
Graphic user interface (GUI) realizes scene of the accident information extraction and reconstruct, simulation modeling, model parameter tune by the interface
The interactive operations such as whole, instruction publication, test result obtain, data are analyzed, and receive the intermediate knot during interactive operation
Result after fruit and data processing.
A kind of automatic Pilot test scene render analog method provided in an embodiment of the present invention, as shown in Fig. 2, this method packet
It includes:
Step S111: the scene reproduction model of scene to be reproduced is constructed.
In embodiments of the present invention, high-precision electronic map is constructed to checkout area in advance.In the specific implementation process, pass through
High-precision, highdensity acquisition are carried out to the longitude, latitude, height coordinate of field test element each in checkout area, construct survey
Examination hall high-precision electronic map.Automatic Pilot vehicle 211 and unmanned testing vehicle 212 are with being fitted with the high-precision electronic of checkout area
Figure.By Orientation on map, increased in binding test field using the GPS/ the North ground based on RTK (carrier phase difference) location technology
Strong system, it can be achieved that vehicle Centimeter Level high accuracy positioning.
In a kind of possible embodiment, the specific embodiment of step S111, as shown in Figure 3, comprising:
Step S1111: the field data of the scene to be reproduced is extracted.
In the specific implementation process, accident scene or normally travel that scene to be reproduced can be to be reproduced for automatic Pilot vehicle
Scene.All accidents that front and back certain period of time occurs for accident can be extracted for accident scene to be reproduced, in step S1111
The location data of associated vehicle.Location data can be extracted from accident vehicle on-board positioning device, the vehicle-mounted band positions function
The equipment of energy includes Vehicular satellite positioning device, on-vehicle navigation apparatus etc..In general, vehicle equipped with navigation or automobile positioner, one
As be GPS (Global Positioning System, global positioning system) or BDS (BeiDou Navigation
Satellite System, Beidou satellite navigation system).It in the specific implementation process, can be from navigation or vapour in step S1111
All positioning of front and back a period of time (such as front and back 1 minute or 2 minutes or 5 minutes) occur for the accident that vehicle is exported in vehicle locator
Data, including longitude, latitude, elevation, speed, acceleration, traveling azimuth, time.
For automatic Pilot vehicle, vehicle positioning equipment is widely used that RTK positioning, Orientation on map and inertia measurement
The fusion of unit can reach a centimetre class precision.For error caused by precision low on general vehicle navigation or locator, use
Field observation the methods of is taken pictures, and traveling trace, braking mark, the vehicle-mounted video recording, road surface monitoring video on road surface are stayed in conjunction with wheel
Equal analyses obtain, to determine navigation or the specific position of locator.
Step S1112: according to the field data, the scene overall process to be reproduced is emulated, obtains the field to be reproduced
The preliminary simulation model of scape.
According to the positioning data of vehicles that step S1111 is collected, in conjunction with the model of vehicle, initial position, driving condition parameter
(such as acceleration and deceleration, braking, steering) establishes the complete mathematical model of accident process, based on checkout area high-precision map to accident
Process carries out digital to analog simulation, reproduces the overall process of car accident.Entire simulation process is on the server of control centre
It carries out.
By above step, the preliminary simulation model of scene to be reproduced is obtained, model parameter includes accident associated vehicle
Initial position, track, speed, traffic injury time etc..
Step S1113: adjustment model parameter optimizes the preliminary simulation model until kissing substantially with the scene to be reproduced
It closes, obtains simulation model.
But the preliminary simulation model due to acquisition is with scene to be reproduced that there may be not very identical situation, step
S1113 optimizes the preliminary simulation model until coincideing with the scene to be reproduced, obtains emulation mould for adjusting model parameter
Type.
Step S1113 is optimization primary condition with the PRELIMINARY RESULTS of step S1112, by repeatedly adjusting vehicle location, speed
The model parameters such as degree, actuation time optimize Failure Simulation process, until analog result and truth substantially conform to.
Step S1114: it according to the simulation model, generates for controlling the automatic Pilot vehicle and the operation of unmanned testing vehicle
Instruction sequence.
In the specific implementation process, model of place interpreter can read the data information of simulation model, parse therein
Data sequentially generate the instruction sequence of control vehicle operation.When instruction sequence includes position, movement and the execution of associated vehicle
Between, track, the information such as speed, as shown in the table.
Wherein, position coordinates are WGS84 coordinate, and the node of track includes the information such as vehicle location, moment, speed.
Step S1115: described instruction sequence is sent respectively to the automatic Pilot vehicle and unmanned testing vehicle, so that described
Automatic Pilot vehicle and unmanned testing vehicle carry out scene reproduction in the checkout area.
Control centre will control the instruction sequence of automatic Pilot vehicle and the operation of unmanned testing vehicle by instruction publication submodule
It is sent respectively to automatic Pilot vehicle and unmanned testing vehicle, so that automatic Pilot vehicle and unmanned testing vehicle carry out in the checkout area
Scene reproduction.
In embodiments of the present invention, instruction publication submodule receives instruction sequence from model of place interpreter, and passes through survey
Examination hall car networking environment is in real time sent to instruction sequence automatic Pilot vehicle and unmanned testing vehicle.Automatic Pilot vehicle and unmanned survey
After test run receives control instruction, scene reproduction is carried out in checkout area.
Step S1116: according to the scene reproduction as a result, adjustment model parameter, until scene reproduction result with it is described
Scene to be reproduced is coincide.
It, can not completely truly again according only to the model of place of emulation due to the otherness of simulated environment and actual environment
Existing actual scene.Therefore, the result of scene reproduction can not truly reproduce scene to be reproduced completely in step S1114, also need
Accident process is repeated several times, directly by further adjusting the model parameters such as speed, position, movement execution time, running track
Reconstruction results in checkout area are substantially conformed to truth, to obtain scene reproduction model.
The scene reproduction model that step S111 is obtained includes the data of scene to be reproduced from start to finish entire motion process
File specifically includes following data information: controlled vehicle starts state (position, posture, initial velocity etc.)；Controlled vehicle intermediate state
(position, posture, speed, track, movement etc.)；Controlled vehicle final state (position, state, final speed etc.).
Step S112: according to the scene reproduction model, automatic Pilot vehicle and unmanned testing vehicle are controlled in checkout area
Realize scene reproduction.
In a kind of possible embodiment, according to the scene reproduction model that step S111 is obtained, needing to be reproduced
When scene is reproduced, according to the data file of the model, instruction sequence can be generated by model of place interpreter, then by referring to
Enable publication submodule be sent to automatic Pilot vehicle and unmanned testing vehicle by checkout area car networking environment, control automatic Pilot vehicle with
And unmanned testing vehicle realizes scene reproduction.
Step S113: the data letter of the automatic Pilot vehicle and unmanned testing vehicle in scene reproducing processes is obtained in real time
Breath.
By checkout area car networking environment, the data of automatic Pilot vehicle and unmanned testing vehicle in scene reproducing processes are believed
Breath transmit simultaneously save the server to control centre, data information includes: vehicle location, azimuth, motion track, speed and
Sensor information etc.；The intermediate output of the modules such as environment understanding, the programmed decision-making of automatic Pilot vehicle (tested vechicle) is as a result, include vehicle
Self-positioning information, the identification information of lane line, traffic signals, barrier, pedestrian, the identification of background vehicle (test carriage) and fixed
Position information and path planning, action selection, track generate etc. result information.Certainly in the specific implementation process, checkout area one
As be fitted with video monitoring system, the on-site supervision video as captured by checkout area video monitoring system can also be for transmission to control
Central server processed；If automatic Pilot vehicle and unmanned testing vehicle installation automobile data recorder or in-vehicle camera, by automobile data recorder
Or process video captured by in-vehicle camera can also be transferred to server, so that server obtains more data, more favorably
In the parsing of cause of accident.
In a kind of possible embodiment, when scene to be reproduced is traffic accident scene, the embodiment of the present invention is provided
Automatic Pilot test scene render analog method further include:
Step S114: comparing the data information and the scene reproduction model of the scene reproduction, and analysis is described to drive automatically
Vehicle parameter change procedure of the vehicle in scene to be reproduced is sailed, determines the reason of accident occurs.
In the specific implementation process, according to the data information of acquired scene reproduction, in conjunction with scene rendering model, automatically
The real time position of analysis accident fore-aft vehicle, azimuth, real-time speed, acceleration change procedure, and compare automatic Pilot vehicle
The modules such as environment understanding, programmed decision-making, motion control intermediate output result variation, determine the reason of accident occurs simultaneously
Generate failure analysis report.The data of analysis report include: that speed before and after the precise moments of accident, car accident occurs for vehicle
Occur with driving direction, the relative angle at two vehicle accident moment, the braking distance of each accident vehicle, braking time, accident
Reason etc..By step S114, casualty data analysis can be carried out automatically, can generate crash analysis data report, thus is had
Standby high efficiency.
A kind of automatic Pilot test scene render analog method provided in an embodiment of the present invention, this method comprises: building to
The scene reproduction model of reconstruction of scenes；According to the scene reproduction model, controls automatic Pilot vehicle and unmanned testing vehicle is being surveyed
Scene reproduction is realized in examination hall；The data letter of the automatic Pilot vehicle and unmanned testing vehicle in scene reproducing processes is obtained in real time
Breath.Automatic Pilot test scene render analog method provided in an embodiment of the present invention, can correspond to automatic Pilot vehicle and really drive
Sail scene, realize reproduction of the true Driving Scene in checkout area, the reproduction including automatic Pilot vehicle normal driving process with
And accident occurs the driving procedure in N seconds (30 seconds such as preceding) first and reproduces, and can be the movement of explanation accident vehicle in the process of moving
The reason of situation and accident occur, provides a large amount of basic data, becomes the important work of the accident parsing in true Driving Scene
Tool.
Meanwhile the present invention carries out the reproduction of accident scene using a kind of unmanned test carriage, thus system have safety,
Economic, repeatable, controllable feature.Safety: the generation of personal injury is avoided；It is economical: various traffic scenes can be flexibly constructed,
Reduce the cost of scenario building；It is repeatable: due to eliminating the human factor of reproducing processes, it can be achieved that the repetition one repeatedly reproduced
Cause property.
Furthermore the present invention first establishes the simulation model of scene reproduction based on checkout area high-precision map, drives test with this
Actual vehicle in, model parameter need to be only finely adjusted according to experimental result can be obtained true Driving Scene it is accurate again
It is existing, to save the time for reproducing car accident scene, provide convenience for the quick analysis of car accident occurrence cause.
Further, the scene reproduction process in the embodiment of the present invention is managed by control centre's United Dispatching, whole process
It is automatically performed.
Based on identical inventive concept, the embodiment of the invention also provides a kind of automatic Pilot test scene render analog
Device 11, as shown in figure 4, including sequentially connected model of place building module 111, scene reproduction realization module 112 and result
Obtain module 113, in which:
Model of place constructs module 111, for constructing the scene reproduction model of scene to be reproduced.
In a kind of possible embodiment, as shown in figure 5, model of place building module 111 includes sequentially connected scene
Data collection submodule 1111, scene simulation, which reproduce submodule 1112, simulation model optimization submodule 1113, model of place, to be explained
Device 1114, instruction publication submodule 1115 and parameter adjusting submodule 1116, in which:
Field data collection submodule 1111, for extracting the field data of the scene to be reproduced.
Scene simulation reproduces submodule 1112, for emulating the scene overall process to be reproduced according to the field data,
Obtain the preliminary simulation model of the scene to be reproduced.
Simulation model optimizes submodule 1113, for adjusting model parameter, optimizes the preliminary simulation model until with institute
It states scene to be reproduced to coincide substantially, obtains simulation model.
Model of place interpreter 1114, for according to the simulation model, generate for control the automatic Pilot vehicle and
The instruction sequence of unmanned testing vehicle operation.
Instruction publication submodule 1115, for described instruction sequence to be sent respectively to the automatic Pilot vehicle and unmanned survey
Test run, so that the automatic Pilot vehicle and unmanned testing vehicle carry out scene reproduction in the checkout area.
Parameter adjusting submodule 1116, according to the scene reproduction as a result, model parameter is adjusted, until scene reproduction knot
Fruit and the scene to be reproduced are coincide.Further adjust model parameter according to result so that finally can simulation true to nature it is true
Driving Scene, thus obtain accident parse required for basic data.
Scene reproduction realizes module 112, for controlling automatic Pilot vehicle and unmanned survey according to the scene reproduction model
Scene reproduction is realized in test run in checkout area.
In the specific implementation process, need to treat reconstruction of scenes reproduced when, scene reproduction realize module according to field
The data file of scape rendering model generates control instruction sequence by model of place interpreter, then is passed through by instruction publication submodule
Checkout area car networking environment is sent to automatic Pilot vehicle and unmanned testing vehicle, controls automatic Pilot vehicle and unmanned testing vehicle is realized
Scene reproduction.
As a result module 113 is obtained, for obtaining the automatic Pilot vehicle and unmanned testing vehicle in real time in scene reproducing processes
In data information.As a result process data and result that module 113 obtains scene reproduction by checkout area car networking environment are obtained.
In a kind of possible embodiment, automatic Pilot test scene render analog device 11 further include: data analyze mould
Block (is not marked in figure), for comparing the data information and the scene reproduction model of the scene reproduction, analyzes described automatic
Vehicle parameter change procedure of the vehicle in scene to be reproduced is driven, determines the reason of accident occurs.
Automatic Pilot test scene render analog device provided in an embodiment of the present invention, with the phase in above method embodiment
It may refer to each other with place, details are not described herein.
Same and similar part may refer to each other between each embodiment in this specification.
The above is only a specific embodiment of the invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (8)
1. a kind of automatic Pilot test scene render analog method, which is characterized in that the described method includes:
Construct the scene reproduction model of scene to be reproduced；
According to the scene reproduction model, controls automatic Pilot vehicle and unmanned testing vehicle realizes scene reproduction in checkout area；
The data information of the automatic Pilot vehicle and unmanned testing vehicle in scene reproducing processes is obtained in real time.
2. the method as described in claim 1, which is characterized in that the scene reproduction model of the building scene to be reproduced, comprising:
Extract the field data of the scene to be reproduced；
According to the field data, the scene overall process to be reproduced is emulated, obtains the preliminary emulation mould of the scene to be reproduced
Type；
Model parameter is adjusted, optimizes the preliminary simulation model until coincideing substantially with the scene to be reproduced, obtains emulation mould
Type；
According to the simulation model, the instruction sequence for controlling the automatic Pilot vehicle and the operation of unmanned testing vehicle is generated；
Described instruction sequence is sent respectively to the automatic Pilot vehicle and unmanned testing vehicle, so that the automatic Pilot vehicle and nothing
People's test carriage carries out scene reproduction in the checkout area；
According to the scene reproduction as a result, model parameter is adjusted, until scene reproduction result and the scene to be reproduced are coincide.
3. the method as described in claim 1, which is characterized in that the method also includes:
The data information and the scene reproduction model for comparing the scene reproduction, analyze the automatic Pilot vehicle in field to be reproduced
Vehicle parameter change procedure in scape determines the reason of accident occurs.
4. a kind of automatic Pilot test scene render analog device characterized by comprising
Model of place constructs module, for constructing the scene reproduction model of scene to be reproduced；
Scene reproduction realizes module, for controlling automatic Pilot vehicle and unmanned testing vehicle existing according to the scene reproduction model
Scene reproduction is realized in checkout area；
As a result module is obtained, for obtaining the data of the automatic Pilot vehicle and unmanned testing vehicle in scene reproducing processes in real time
Information.
5. device as claimed in claim 4, which is characterized in that the model of place constructs module and includes:
Field data collection submodule, for extracting the field data of the scene to be reproduced；
Scene simulation reproduces submodule, for according to the field data, emulating the scene overall process to be reproduced, described in acquisition
The preliminary simulation model of scene to be reproduced；
Simulation model optimizes submodule, for adjusting model parameter, optimizes the preliminary simulation model until with described to be reproduced
Scene is coincide substantially, obtains simulation model；
Model of place interpreter, for generating for controlling the automatic Pilot vehicle and unmanned testing according to the simulation model
The instruction sequence of vehicle operation；
Instruction publication submodule, for described instruction sequence to be sent respectively to the automatic Pilot vehicle and unmanned testing vehicle, with
The automatic Pilot vehicle and unmanned testing vehicle is set to carry out scene reproduction in the checkout area；
Parameter adjusting submodule, for according to the scene reproduction as a result, adjustment model parameter, until scene reproduction result with
The scene to be reproduced is coincide.
6. device as claimed in claim 4, which is characterized in that further include:
Data analysis module, for comparing the data information and the scene reproduction model of the scene reproduction, analysis is described certainly
The dynamic vehicle parameter change procedure for driving vehicle in scene to be reproduced, determines the reason of accident occurs.
7. a kind of automatic Pilot test scene render analog system characterized by comprising control centre, checkout area and position
In the controlled vehicle in the checkout area, the control centre and the controlled vehicle are carried out in fact by checkout area car networking environment
When information exchange, wherein the controlled vehicle includes automatic Pilot vehicle and unmanned testing vehicle；
Any automatic Pilot test scene render analog device of claim 4 to 6 runs on the clothes of the control centre
It is engaged on device.
8. system as claimed in claim 7, which is characterized in that the system also includes:
Graphic user interface for realizing man-machine interactive operation, and receives the result of interactive operation process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910223012.3A CN109993849A (en) | 2019-03-22 | 2019-03-22 | A kind of automatic Pilot test scene render analog method, apparatus and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910223012.3A CN109993849A (en) | 2019-03-22 | 2019-03-22 | A kind of automatic Pilot test scene render analog method, apparatus and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109993849A true CN109993849A (en) | 2019-07-09 |
Family
ID=67130888
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910223012.3A Pending CN109993849A (en) | 2019-03-22 | 2019-03-22 | A kind of automatic Pilot test scene render analog method, apparatus and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109993849A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110497914A (en) * | 2019-08-26 | 2019-11-26 | 格物汽车科技(苏州)有限公司 | Driver behavior model development approach, equipment and the storage medium of automatic Pilot |
| 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 |
| CN110853393A (en) * | 2019-11-26 | 2020-02-28 | 清华大学 | Intelligent network vehicle test field data acquisition and fusion method and system |
| CN111027195A (en) * | 2019-12-03 | 2020-04-17 | 北京百度网讯科技有限公司 | Simulation scene generation method, device and equipment |
| CN111177887A (en) * | 2019-12-09 | 2020-05-19 | 武汉光庭信息技术股份有限公司 | Method and device for constructing simulation track data based on real driving scene |
| CN111243335A (en) * | 2020-01-20 | 2020-06-05 | 上海大学 | Scene description method in autonomous unmanned system |
| CN111340976A (en) * | 2020-02-24 | 2020-06-26 | 北京百度网讯科技有限公司 | Method and device for debugging vehicle module, electronic equipment and computer-readable storage medium |
| CN111541990A (en) * | 2020-04-30 | 2020-08-14 | 重庆车辆检测研究院有限公司 | System, method and device for acquiring test data of vehicle-road cooperative system |
| CN112256590A (en) * | 2020-11-12 | 2021-01-22 | 腾讯科技（深圳）有限公司 | Virtual scene effectiveness judgment method and device and automatic driving system |
| CN112560170A (en) * | 2020-11-30 | 2021-03-26 | 中国汽车工程研究院股份有限公司 | Traffic accident analysis method based on driving simulator dynamics analysis |
| CN112596500A (en) * | 2020-12-16 | 2021-04-02 | 清华大学苏州汽车研究院（相城） | Expected function safety analysis method for error/omission recognition of automatic driving vehicle |
| CN112816226A (en) * | 2021-01-06 | 2021-05-18 | 北京智能车联产业创新中心有限公司 | Automatic driving test system and method based on controllable traffic flow |
| CN113450472A (en) * | 2021-06-09 | 2021-09-28 | 上海智能新能源汽车科创功能平台有限公司 | Intelligent test system and method for automobile driving accident recurrence |
| KR20210130113A (en) * | 2021-02-18 | 2021-10-29 | 아폴로 인텔리전트 커넥티비티 (베이징) 테크놀로지 씨오., 엘티디. | Scene reproduction test method, apparatus, device and program of autonomous driving system |
| CN113945224A (en) * | 2021-10-18 | 2022-01-18 | 上海智能网联汽车技术中心有限公司 | Automatic generation method and system for intelligent driving ADAS test scene |
| CN116566819A (en) * | 2023-06-08 | 2023-08-08 | 禾多科技（北京）有限公司 | Simulation test communication method, simulation test communication device, electronic equipment and computer readable medium |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101281661A (en) * | 2008-05-29 | 2008-10-08 | 上海交通大学 | System for reproducing collision accident of vehicle and two-wheel cycle |
| CN102034013A (en) * | 2010-12-30 | 2011-04-27 | 长安大学 | Automobile oblique collision accident analytic computation and simulative reappearance computer system |
| CN102034257A (en) * | 2010-12-31 | 2011-04-27 | 长安大学 | Computer system for simulating and reproducing collision accident between automobile and two-wheel or three-wheel vehicle |
| CN102043885A (en) * | 2010-12-31 | 2011-05-04 | 长安大学 | Motorcycle and two/three-wheeled vehicle collision accident simulation and reconstruction system |
| CN102073789A (en) * | 2010-12-30 | 2011-05-25 | 长安大学 | Analysis, calculation and simulative representation system for combined accident of vehicle-vehicle collision and vehicle-fixed object collision |
| CN106157614A (en) * | 2016-06-29 | 2016-11-23 | 北京奇虎科技有限公司 | Motor-vehicle accident responsibility determines method and system |
| CN107727411A (en) * | 2017-10-30 | 2018-02-23 | 青岛慧拓智能机器有限公司 | A kind of automatic driving vehicle test and appraisal scene generation system and method |
| CN108765235A (en) * | 2018-05-09 | 2018-11-06 | 公安部交通管理科学研究所 | Automatic driving vehicle test scene construction method and test method based on the destructing of traffic accident case |
| CN108829087A (en) * | 2018-07-19 | 2018-11-16 | 山东省科学院自动化研究所 | A kind of intelligent test system and test method of autonomous driving vehicle |
| CN109187041A (en) * | 2018-07-19 | 2019-01-11 | 山东省科学院自动化研究所 | A kind of unmanned testing vehicle platform and method for automatic Pilot checkout area |
| CN109324539A (en) * | 2018-08-28 | 2019-02-12 | 山东省科学院自动化研究所 | The intelligent control platform and method of a kind of automatic Pilot closed test field |
-
2019
- 2019-03-22 CN CN201910223012.3A patent/CN109993849A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101281661A (en) * | 2008-05-29 | 2008-10-08 | 上海交通大学 | System for reproducing collision accident of vehicle and two-wheel cycle |
| CN102034013A (en) * | 2010-12-30 | 2011-04-27 | 长安大学 | Automobile oblique collision accident analytic computation and simulative reappearance computer system |
| CN102073789A (en) * | 2010-12-30 | 2011-05-25 | 长安大学 | Analysis, calculation and simulative representation system for combined accident of vehicle-vehicle collision and vehicle-fixed object collision |
| CN102034257A (en) * | 2010-12-31 | 2011-04-27 | 长安大学 | Computer system for simulating and reproducing collision accident between automobile and two-wheel or three-wheel vehicle |
| CN102043885A (en) * | 2010-12-31 | 2011-05-04 | 长安大学 | Motorcycle and two/three-wheeled vehicle collision accident simulation and reconstruction system |
| CN106157614A (en) * | 2016-06-29 | 2016-11-23 | 北京奇虎科技有限公司 | Motor-vehicle accident responsibility determines method and system |
| CN107727411A (en) * | 2017-10-30 | 2018-02-23 | 青岛慧拓智能机器有限公司 | A kind of automatic driving vehicle test and appraisal scene generation system and method |
| CN108765235A (en) * | 2018-05-09 | 2018-11-06 | 公安部交通管理科学研究所 | Automatic driving vehicle test scene construction method and test method based on the destructing of traffic accident case |
| CN108829087A (en) * | 2018-07-19 | 2018-11-16 | 山东省科学院自动化研究所 | A kind of intelligent test system and test method of autonomous driving vehicle |
| CN109187041A (en) * | 2018-07-19 | 2019-01-11 | 山东省科学院自动化研究所 | A kind of unmanned testing vehicle platform and method for automatic Pilot checkout area |
| CN109324539A (en) * | 2018-08-28 | 2019-02-12 | 山东省科学院自动化研究所 | The intelligent control platform and method of a kind of automatic Pilot closed test field |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110497914A (en) * | 2019-08-26 | 2019-11-26 | 格物汽车科技(苏州)有限公司 | Driver behavior model development approach, equipment and the storage medium of automatic Pilot |
| CN110497914B (en) * | 2019-08-26 | 2020-10-30 | 格物汽车科技(苏州)有限公司 | Method, apparatus and storage medium for developing a model of driver behavior for autonomous driving |
| 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 |
| CN110781069B (en) * | 2019-08-28 | 2022-05-20 | 腾讯科技（深圳）有限公司 | Positioning module testing method, device and equipment for automatic driving vehicle |
| CN110853393A (en) * | 2019-11-26 | 2020-02-28 | 清华大学 | Intelligent network vehicle test field data acquisition and fusion method and system |
| CN111027195A (en) * | 2019-12-03 | 2020-04-17 | 北京百度网讯科技有限公司 | Simulation scene generation method, device and equipment |
| CN111027195B (en) * | 2019-12-03 | 2023-02-28 | 阿波罗智能技术(北京)有限公司 | Simulation scene generation method, device and equipment |
| CN111177887A (en) * | 2019-12-09 | 2020-05-19 | 武汉光庭信息技术股份有限公司 | Method and device for constructing simulation track data based on real driving scene |
| CN111243335A (en) * | 2020-01-20 | 2020-06-05 | 上海大学 | Scene description method in autonomous unmanned system |
| CN111340976A (en) * | 2020-02-24 | 2020-06-26 | 北京百度网讯科技有限公司 | Method and device for debugging vehicle module, electronic equipment and computer-readable storage medium |
| CN111541990A (en) * | 2020-04-30 | 2020-08-14 | 重庆车辆检测研究院有限公司 | System, method and device for acquiring test data of vehicle-road cooperative system |
| CN112256590A (en) * | 2020-11-12 | 2021-01-22 | 腾讯科技（深圳）有限公司 | Virtual scene effectiveness judgment method and device and automatic driving system |
| CN112560170A (en) * | 2020-11-30 | 2021-03-26 | 中国汽车工程研究院股份有限公司 | Traffic accident analysis method based on driving simulator dynamics analysis |
| CN112596500A (en) * | 2020-12-16 | 2021-04-02 | 清华大学苏州汽车研究院（相城） | Expected function safety analysis method for error/omission recognition of automatic driving vehicle |
| CN112596500B (en) * | 2020-12-16 | 2022-01-28 | 清华大学苏州汽车研究院（相城） | Expected function safety analysis method for error/omission recognition of automatic driving vehicle |
| CN112816226A (en) * | 2021-01-06 | 2021-05-18 | 北京智能车联产业创新中心有限公司 | Automatic driving test system and method based on controllable traffic flow |
| CN112816226B (en) * | 2021-01-06 | 2023-03-14 | 北京智能车联产业创新中心有限公司 | Automatic driving test system and method based on controllable traffic flow |
| KR20210130113A (en) * | 2021-02-18 | 2021-10-29 | 아폴로 인텔리전트 커넥티비티 (베이징) 테크놀로지 씨오., 엘티디. | Scene reproduction test method, apparatus, device and program of autonomous driving system |
| EP4047342A1 (en) * | 2021-02-18 | 2022-08-24 | Apollo Intelligent Connectivity (Beijing) Technology Co., Ltd. | Scene reproduction test method, apparatus, device and program product of autonomous driving system |
| KR102601534B1 (en) | 2021-02-18 | 2023-11-14 | 아폴로 인텔리전트 커넥티비티 (베이징) 테크놀로지 씨오., 엘티디. | Scene reproduction test method, apparatus, device and program of autonomous driving system |
| US11893800B2 (en) | 2021-02-18 | 2024-02-06 | Apollo Intelligent Connectivity (Beijing) Technology Co., Ltd. | Scene reproduction test method, apparatus, device and program product of autonomous driving system |
| CN113450472A (en) * | 2021-06-09 | 2021-09-28 | 上海智能新能源汽车科创功能平台有限公司 | Intelligent test system and method for automobile driving accident recurrence |
| CN113945224A (en) * | 2021-10-18 | 2022-01-18 | 上海智能网联汽车技术中心有限公司 | Automatic generation method and system for intelligent driving ADAS test scene |
| CN116566819A (en) * | 2023-06-08 | 2023-08-08 | 禾多科技（北京）有限公司 | Simulation test communication method, simulation test communication device, electronic equipment and computer readable medium |
| CN116566819B (en) * | 2023-06-08 | 2023-09-19 | 禾多科技（北京）有限公司 | Simulation test communication method, simulation test communication device, electronic equipment and computer readable medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109993849A (en) | A kind of automatic Pilot test scene render analog method, apparatus and system | |
| US11983972B1 (en) | Simulating virtual objects | |
| CN110531740B (en) | Intelligent degree quantitative evaluation method for intelligent vehicle | |
| CN106548679B (en) | A kind of intelligent driving training system | |
| Broggi et al. | Extensive tests of autonomous driving technologies | |
| CN112740188B (en) | Log-based simulation using bias | |
| CN114879631A (en) | Automatic driving test system and method based on digital twin cloud control platform | |
| CN105652690A (en) | In-loop test system and method for automatic parking system vehicle | |
| CN105068857B (en) | A kind of driving behavior data capture method based on high fidelity driving simulator | |
| CN108681264A (en) | A kind of intelligent vehicle digitalized artificial test device | |
| CN109781431A (en) | Automatic Pilot test method and system based on mixed reality | |
| US20220198107A1 (en) | Simulations for evaluating driving behaviors of autonomous vehicles | |
| WO2019065409A1 (en) | Automatic driving simulator and map generation method for automatic driving simulator | |
| Guvenc et al. | Connected and autonomous vehicles | |
| Moten et al. | X-in-the-loop advanced driving simulation platform for the design, development, testing and validation of ADAS | |
| WO2023028858A1 (en) | Test method and system | |
| CN110333085A (en) | A kind of automatic Pilot test carriage tele-control system and method | |
| Gechter et al. | Towards a hybrid real/virtual simulation of autonomous vehicles for critical scenarios | |
| CN115931379A (en) | Intelligent automobile road test multi-target complex scene construction system and construction method | |
| Szalay et al. | Proof of concept for Scenario-in-the-Loop (SciL) testing for autonomous vehicle technology | |
| CN116755954A (en) | Automatic driving test system and method based on digital twin virtual-real combination | |
| Freydin et al. | Learning car speed using inertial sensors for dead reckoning navigation | |
| JP2024513666A (en) | Instantiating objects in a simulated environment based on log data | |
| Druml et al. | Programmable systems for intelligence in automobiles (PRYSTINE): Final results after Year 3 | |
| CN111818485A (en) | V2X man-machine cooperation performance testing system and method |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190709 |
|
| RJ01 | Rejection of invention patent application after publication |