CN111123727A

CN111123727A - Unmanned vehicle simulation building method, device, equipment and computer readable medium

Info

Publication number: CN111123727A
Application number: CN201811276948.4A
Authority: CN
Inventors: 郭正东; 张连城; 毛继明
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Apollo Intelligent Technology Beijing Co Ltd
Priority date: 2018-10-30
Filing date: 2018-10-30
Publication date: 2020-05-08
Anticipated expiration: 2038-10-30
Also published as: CN111123727B

Abstract

The invention provides a method, a device, equipment and a computer readable medium for unmanned vehicle simulation construction, wherein the method comprises the following steps: fusing simulation function modules with the same service to obtain a basic function module; constructing different types of interfaces on the basic function module; and receiving macro parameters transmitted by the automatic driving algorithm models of corresponding types through different types of interfaces respectively, and generating a simulation function module matched with the automatic driving algorithm by combining the macro parameters through the basic function module. The embodiment of the invention can adapt to different automatic driving algorithms simultaneously by fusing the functional modules of the same service, thereby avoiding repeated development and accelerating the working efficiency.

Description

Unmanned vehicle simulation building method, device, equipment and computer readable medium

Technical Field

The invention relates to the technical field of simulation, in particular to a method, a device, equipment and a computer readable medium for building unmanned vehicle simulation.

Background

Currently, with the development of unmanned technology, many automobile manufacturers gradually open corresponding unmanned vehicle control systems. For the control accuracy of the operating system of the unmanned vehicle, it is necessary to perform simulation calculation first and evaluate the performance parameters of the operating system.

The unmanned vehicle simulation building business needs to support intelligent driving algorithms of different automobile manufacturers at the same time. Therefore, the currently adopted mode is to independently develop and maintain corresponding simulation systems for simulation services of intelligent driving algorithms of different manufacturers. However, the current method has the problems that many function iterations need to be repeatedly developed in different simulation systems, simulation resources of different simulation systems cannot be shared, and the like.

Disclosure of Invention

The embodiment of the invention provides an unmanned vehicle simulation building method, device, equipment and computer readable medium, which are used for solving or relieving one or more technical problems in the prior art.

In a first aspect, an embodiment of the present invention provides an unmanned vehicle simulation building method, including:

fusing simulation function modules with the same service to obtain a basic function module;

constructing different types of interfaces on the basic function module;

and receiving macro parameters transmitted by the automatic driving algorithm models of corresponding types through different types of interfaces respectively, and generating a simulation function module matched with the automatic driving algorithm by combining the macro parameters through the basic function module.

In an embodiment, the acquiring a basic function module by the simulation function module fusing the same service includes:

extracting the differential function configuration of the simulation function modules with the same service, and reserving the same basic function modules;

and carrying out standardized setting on the message format of the basic function module.

In one embodiment, the building different types of interfaces on the basic function module includes:

different types of interfaces are linked to different operating environments.

In one embodiment, receiving macro parameters transmitted by automatic driving algorithm models of corresponding types through type interfaces respectively, and operating the automatic driving algorithm models in corresponding environments according to the macro parameters includes:

generating a simulation function module matched with the automatic driving algorithm by combining the basic function module according to the received macro parameters of the automatic driving algorithm model;

and carrying out simulation operation on the automatic driving algorithm model in the generated simulation function module.

In one embodiment, the macro parameters include: one or more of matched operating parameters, vehicle parameters, data formats of the autopilot algorithm model.

In a second aspect, an embodiment of the present invention provides an unmanned vehicle simulation building apparatus, including:

the fusion module is used for fusing the simulation function modules with the same service to obtain a basic function module;

the separation module is used for constructing different types of interfaces on the basic function module;

and the operation module is used for respectively receiving macro parameters transmitted by automatic driving algorithm models of corresponding types through different types of interfaces, and the basic function module is combined with the macro parameters to generate a simulation function module matched with the automatic driving algorithm.

In one embodiment, the fusion module comprises:

the extraction sub-module is used for extracting the differentiated functional configuration of the simulation functional modules with the same service and reserving the same basic functional module;

and the standardization submodule is used for carrying out standardization setting on the message format of the basic function module.

In one embodiment, the separation module comprises:

and the link submodule is used for linking the interfaces of different types to different operating environments.

In one embodiment, the operation module comprises:

the generating submodule is used for generating a simulation function module matched with the automatic driving algorithm by combining the basic function module according to the received macro parameters of the automatic driving algorithm model;

and the operation submodule is used for carrying out simulation operation on the automatic driving algorithm model in the generated simulation functional module.

In a third aspect, the embodiment of the invention provides an unmanned vehicle simulation building device, and the functions of the device can be realized by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-described functions.

In one possible design, the structure of the unmanned vehicle simulation building apparatus includes a processor and a memory, the memory is used for storing a program for supporting the unmanned vehicle simulation building apparatus to execute the unmanned vehicle simulation building method in the first aspect, and the processor is configured to execute the program stored in the memory. The unmanned vehicle simulation building device can further comprise a communication interface for communicating with other equipment or a communication network.

In a fourth aspect, an embodiment of the present invention provides a computer readable medium for storing computer software instructions for an unmanned vehicle simulation construction apparatus, which includes a program for executing the unmanned vehicle simulation construction method according to the first aspect.

One of the above technical solutions has the following advantages or beneficial effects: the embodiment of the invention can adapt to different automatic driving algorithms simultaneously by fusing the functional modules of the same service, thereby avoiding repeated development and accelerating the working efficiency.

The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will be readily apparent by reference to the drawings and following detailed description.

Drawings

In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.

FIG. 1 is a flow chart of an unmanned vehicle simulation building method according to an embodiment of the present invention;

FIG. 2 is a flowchart illustrating the detailed process of step S110 according to an embodiment of the present invention;

FIG. 3 is a flowchart illustrating the detailed process of step S130 according to an embodiment of the present invention;

FIG. 4 is a connection block diagram of the unmanned vehicle simulation setup device according to an embodiment of the present invention;

FIG. 5 is a block diagram of the connection of the fusion module according to an embodiment of the present invention;

FIG. 6 is a block diagram of the connection of a separation module according to an embodiment of the present invention;

FIG. 7 is a block diagram of the connections of the operational modules of one embodiment of the present invention;

fig. 8 is a block diagram of an unmanned vehicle simulation building apparatus according to another embodiment of the present invention.

Detailed Description

In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive. The embodiment of the invention mainly provides a method and a device for building unmanned vehicle simulation, and the technical scheme is described in the following embodiments.

The invention provides a method and a device for unmanned vehicle simulation building, and the specific processing flow and principle of the method and the device for unmanned vehicle simulation building of the embodiment of the invention are described in detail below.

As shown in fig. 1, it is a flowchart of an unmanned vehicle simulation building method according to an embodiment of the present invention. The unmanned vehicle simulation building method provided by the embodiment of the invention can comprise the following steps:

s110: and fusing the simulation function modules with the same service to obtain a basic function module.

In this step, in order to reduce the repeated development, simulation modules of the same specific service may be merged. For example, currently, it is necessary to perform simulation operation on the automatic driving algorithms of two automobile manufacturers, and both of the two automatic driving algorithms need to be applied to some same business functions, such as: scheduling control, messaging, metric analysis, and offline view, among others. Therefore, these same modules can be fused to obtain a basic functional module. As shown in fig. 2, in an embodiment, the acquiring a basic function module by the simulation function module fusing the same service includes:

s111: and (4) extracting the differential function configuration of the simulation function modules with the same service, and reserving the same basic function modules.

Among them, there are differences in some parameters in different automatic driving algorithms, such as: simulated travel speed, vehicle parameters, etc. Therefore, these differentiated configurations need to be pulled away before the same basic functional module is extracted.

S112: and carrying out standardized setting on the message format of the basic function module.

Different automatic driving algorithms are adapted to different message formats, so that the message formats for transceiving of the basic function module need to be standardized so as to smoothly transmit and receive messages.

S120: and constructing different types of interfaces on the basic function module.

For example, currently, there are 10 different automatic driving algorithms respectively applied to different vehicle models, and these 10 automatic driving algorithms need to be subjected to simulation operation to determine the operating state. Because the operating environments of different automatic driving algorithms may be different and the transmitted data formats may also be different, different types of interfaces need to be constructed on the basic function module to interface with the corresponding automatic driving algorithms. In one embodiment, different types of interfaces may also be linked to different operating environments.

S130: and receiving macro parameters transmitted by the automatic driving algorithm models of corresponding types through different types of interfaces respectively, and generating a simulation function module matched with the automatic driving algorithm by combining the macro parameters through the basic function module.

After interfaces of different types are constructed, parameters of automatic algorithm models of corresponding types can be received. For example, assuming that a "popular" vehicle-type interface is currently constructed, parameters delivered by the "popular" automated driving algorithm can be received through the interface, and the "popular" automated driving algorithm is operated in the operation environment linked by the interface. As shown in fig. 3, in one embodiment, the step S130 may include:

s131: and generating a simulation function module matched with the automatic driving algorithm by combining the basic function module according to the received macro parameters of the automatic driving algorithm model.

The macro parameters refer to relevant parameters including an automatic driving algorithm, such as vehicle type relevant parameters, maximum speed limit, running vehicle speed, running environment and the like. For example, after receiving macro parameters of the corresponding automatic driving model through the interface of the "public", a simulation function module meeting the requirement of the "public" can be generated by combining the basic function module.

S132: and carrying out simulation operation on the automatic driving algorithm model in the generated simulation function module.

For example, after the simulation function module of "general public" is generated, the automatic driving algorithm of "general public" may be operated in the corresponding simulation environment, and the operation state and the like may be presented to the user through the function modules such as metric analysis and offline view.

As shown in fig. 4, in another embodiment of the present invention, there is provided an unmanned vehicle simulation building apparatus, including:

and the fusion module 110 is configured to fuse simulation function modules of the same service to obtain a basic function module.

A separation module 120, configured to build different types of interfaces on the basic function module.

And the operation module 130 is configured to receive macro parameters transmitted by corresponding types of automatic driving algorithm models through different types of interfaces, and the basic function module generates a simulation function module matched with the automatic driving algorithm by combining the macro parameters.

As shown in fig. 5, the fusion module 110 includes:

and the extraction sub-module 111 is configured to extract the differentiated functional configurations of the simulation functional modules of the same service, and reserve the same basic functional modules.

And a standardization sub-module 112, configured to standardize the message format of the basic function module.

As shown in fig. 6, the separation module 120 includes:

a link submodule 121 for linking different types of interfaces to different execution environments.

As shown in fig. 7, the operation module 130 includes:

and the generation submodule 131 is configured to generate a simulation function module matched with the automatic driving algorithm by combining the basic function module according to the received macro parameters of the automatic driving algorithm model.

And the operation sub-module 132 is used for performing simulation operation on the automatic driving algorithm model in the generated simulation functional module.

The principle of the unmanned vehicle simulation building device of the embodiment of the invention is similar to that of the unmanned vehicle simulation building method of the embodiment, so that the details are not repeated.

In another embodiment, the present invention further provides an unmanned vehicle simulation building apparatus, as shown in fig. 8, the apparatus comprising: a memory 510 and a processor 520, the memory 510 having stored therein computer programs that are executable on the processor 520. When the processor 520 executes the computer program, the unmanned vehicle simulation building method in the above embodiment is implemented. The number of the memory 510 and the processor 520 may be one or more.

The apparatus further comprises:

the communication interface 530 is used for communicating with an external device to perform data interactive transmission.

Memory 510 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

If the memory 510, the processor 520, and the communication interface 530 are implemented independently, the memory 510, the processor 520, and the communication interface 530 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 8, but this is not intended to represent only one bus or type of bus.

Optionally, in an implementation, if the memory 510, the processor 520, and the communication interface 530 are integrated on a chip, the memory 510, the processor 520, and the communication interface 530 may complete communication with each other through an internal interface.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.

The computer readable medium described in embodiments of the present invention may be a computer readable signal medium or a computer readable storage medium or any combination of the two. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable read-only memory (CDROM). Additionally, the computer-readable storage medium may even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

In embodiments of the present invention, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, input method, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, Radio Frequency (RF), etc., or any suitable combination of the preceding.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present invention, and these should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. An unmanned vehicle simulation building method is characterized by comprising the following steps:

constructing different types of interfaces on the basic function module;

2. The method of claim 1, wherein: the step of acquiring the basic function module by the simulation function module fusing the same service comprises the following steps:

3. The method of claim 1, wherein constructing different types of interfaces on the base function module comprises:

different types of interfaces are linked to different operating environments.

4. The method according to claim 1, wherein macro parameters transmitted by corresponding types of automatic driving algorithm models are respectively received through type interfaces, and the automatic driving algorithm models are operated in corresponding environments according to the macro parameters, and the method comprises the following steps:

5. The method of claim 1, wherein the macro parameters comprise: one or more of matched operating parameters, vehicle parameters, data formats of the autopilot algorithm model.

6. The utility model provides a device is built in simulation of unmanned car which characterized in that includes:

7. The apparatus of claim 6, wherein the fusion module comprises:

8. The apparatus of claim 6, wherein the separation module comprises:

9. The apparatus of claim 6, wherein the operation module comprises:

10. The apparatus of claim 6, wherein the macro parameters comprise: one or more of matched operating parameters, vehicle parameters, data formats of the autopilot algorithm model.

11. The utility model provides an equipment is built in simulation of unmanned car which characterized in that, equipment includes:

one or more processors;

storage means for storing one or more programs;

the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of unmanned vehicle simulation building according to any of claims 1-5.

12. A computer-readable medium, in which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the method of unmanned vehicle simulation building according to any one of claims 1-5.