CN111176134B - Simulation system adaptation method, device and terminal - Google Patents
Simulation system adaptation method, device and terminal Download PDFInfo
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- CN111176134B CN111176134B CN201811334032.XA CN201811334032A CN111176134B CN 111176134 B CN111176134 B CN 111176134B CN 201811334032 A CN201811334032 A CN 201811334032A CN 111176134 B CN111176134 B CN 111176134B
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Abstract
The invention provides a simulation system adaptation method, a simulation system adaptation device and a terminal, wherein the method comprises the following steps: dividing data interfaces corresponding to a plurality of functional modules in the automatic driving system into a basic level data interface set and a system level data interface set; traversing the basic level data interface set and the system level data interface set, and inquiring a data interface matched with the data interface of the simulation system; and testing the functional module by testing the test semantics of the simulation system through the matched data interface. The unmanned vehicle driving system can meet the interaction standards of different simulation systems, can be compatible with different simulation systems, and reduces the adaptation cost.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a simulation system adaptation method, a simulation system adaptation device and a simulation system adaptation terminal.
Background
The automatic driving automobile can automatically and safely operate the motor vehicle by a main control computer without any active operation of human by means of the cooperative cooperation of artificial intelligence, visual calculation, radar, a monitoring device and a global positioning system. A main control computer of an automatic driving automobile relates to a plurality of algorithms, modules and subsystems, and realizes partial or all control functions by carrying out various combinations on the algorithms, the modules and the subsystems. The multi-level verification of the algorithm, the module, the subsystem and the single vehicle requires the establishment of a simulation system of the automatic driving vehicle.
The simulation system of the automatic driving automobile can be divided into a plurality of layers, each layer is provided with an adaptive application programming interface, and the provided application programming interfaces have single functions, for example, only aiming at decision-making algorithms or control algorithms. While other emulation systems have their own application programming interfaces. When the simulation system of the automatic driving automobile is in butt joint with other simulation systems, the simulation system of the automatic driving automobile cannot provide an application programming interface with compatible functions and cannot simultaneously provide access capability for an algorithm, a module and a subsystem in a uniform mode, so the simulation system of the automatic driving automobile needs to be adapted according to the self condition and a target simulation system needing to be accessed. However, since the hierarchical division of each simulation system is different, the adaptation between the simulation systems is too complicated.
Disclosure of Invention
The embodiment of the invention provides a simulation system adaptation method, a simulation system adaptation device and a terminal, which at least solve the technical problems in the prior art.
In a first aspect, an embodiment of the present invention provides a simulation system adaptation method, including:
dividing data interfaces corresponding to a plurality of functional modules in an automatic driving system into a basic level data interface set and a system level data interface set;
traversing the basic level data interface set and the system level data interface set, and inquiring a data interface matched with a data interface of the simulation system;
and testing the functional module by testing the test semantics of the simulation system through the matched data interface.
In one embodiment, dividing data interfaces corresponding to a plurality of function modules in an automatic driving system into a base-level data interface set and a system-level data interface set includes:
acquiring multiple basic functions in the automatic driving system, and combining the multiple basic functions into at least one system function;
and defining the data interface corresponding to the basic function as a module level interface, and defining the data interface corresponding to the system function as a system level interface.
In one embodiment, after querying the data interface matching the data interface of the simulation system, the method further includes:
and if the matched data interface is not inquired, performing function expansion on the basic level data interface or the system level data interface according to the test semantics of the simulation system to generate an expanded function data interface.
In one embodiment, the module-level data interface includes a perception module interface, a data summarization module interface, a decision module interface, and a prediction module interface;
the system-level data interface comprises a region module interface, a control module interface and a processing module interface.
The invention also provides a simulation system adapting device, which comprises:
the interface hierarchy dividing module is used for dividing data interfaces corresponding to a plurality of functional modules in the automatic driving system into a basic level data interface set and a system level data interface set;
the interface matching module is used for traversing the basic level data interface set and the system level data interface set and inquiring a data interface matched with a data interface of the simulation system;
and the function testing module is used for testing the testing semantics of the simulation system through the matched data interface.
In one embodiment, the interface hierarchy partitioning module includes:
the function dividing unit is used for acquiring a plurality of basic functions in the automatic driving system and combining the plurality of basic functions into at least one system function;
and the interface definition unit is used for defining the data interface corresponding to the basic function as a module level interface and defining the data interface corresponding to the system function as a system level interface.
In one embodiment, the apparatus further comprises:
and the interface expansion module is used for performing function expansion on the basic level data interface or the system level data interface according to the test semantics of the simulation system to generate an expanded function data interface if the matched data interface is not inquired.
The functions can be realized by hardware, and the functions can also be realized by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the above-described functions.
In one possible design, the structure of the simulation system adapting terminal includes a processor and a memory, the memory is used for storing a program supporting the simulation system adapting terminal to execute the simulation system adapting method in the first aspect, and the processor is configured to execute the program stored in the memory. The simulation system adapting terminal may further comprise a communication interface for the song recommending terminal to communicate with other devices or a communication network.
In a third aspect, an embodiment of the present invention provides a computer-readable storage medium for storing computer software instructions for a song recommending apparatus, which includes a program for executing the simulation system adapting method in the first aspect to the simulation system adapting apparatus.
In a fourth aspect, embodiments of the present invention provide a computer program product comprising a computer program which, when executed by a processor, implements the method as described above.
One of the above technical solutions has the following advantages or beneficial effects: the unmanned vehicle driving system can be compatible with different simulation systems according to the interaction standards of the unmanned vehicle driving system and the different simulation systems, and the adaptation cost is reduced.
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 flowchart of a simulation system adaptation method according to an embodiment of the present invention;
FIG. 2 is a flowchart of another simulation system adapting method according to an embodiment of the present invention;
FIG. 3 is a flowchart of another simulation system adaptation method provided in an embodiment of the present invention;
FIG. 4 is a block diagram of an adaptive apparatus for a simulation system according to an embodiment of the present invention;
FIG. 5 is a block diagram of another adaptive apparatus for simulation system according to an embodiment of the present invention;
FIG. 6 is a block diagram of another simulation system adapting apparatus according to an embodiment of the present invention;
fig. 7 is a block diagram of a structure of an adaptive terminal of a simulation system according to an 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.
Example one
In a specific embodiment, as shown in fig. 1, there is provided an automatic driving simulation system adapting method, including:
step S10: the data interfaces corresponding to a plurality of functional modules in the automatic driving system are divided into a basic level data interface set and a system level data interface set.
Step S20: and traversing the base-level data interface set and the system-level data interface set, and inquiring a data interface matched with the data interface of the simulation system.
Step S30: and testing the functional module by the test semantics of the simulation system through the matched data interface.
The data interfaces corresponding to all the functional modules in the automatic driving system are divided into layers from low to high and from local to whole, and the interfaces are defined by users for each layer to form a uniform data standard. The data interface definition is an abstraction of data interaction and is a description of data interaction between the functional modules. The basic level functional modules are used as bottom layers, such as a decision module, a prediction module, a 2D perception module, a 3D perception module, a data summarization module and the like. Then, the basic function modules are used for designing the system-level function modules of the previous layer, such as a region module, a control module, a PC module and the like. The data interface of the bottom layer is defined as a module level interface and is used for realizing data input and output of basic functions. The data interface of the upper layer is defined as a system-level interface and is used for realizing data input and output of system functions.
The data interface of the simulation system inquires the data interface to be matched in the system-level data interface set of the base-level data interface set. And accessing the simulation system, defining a data interaction path according to the test semantics, and describing a test process. And carrying out data exchange between the automatic driving system and the simulation system on the test semantics through the matched data interface, and further testing the functional module.
Because the automatic driving system has complete semantics and reasonable hierarchical division, a module-level interface, a system-level interface and a combination of the module-level interface and the system-level interface can be provided. An interactive standard is provided for data interfaces of different simulation systems, so that the simulation system can be compatible with different simulation systems, and the adaptation cost is reduced.
In one embodiment, as shown in fig. 2, step S10 includes:
step S101: acquiring multiple basic functions in an automatic driving system, and combining the multiple basic functions into at least one system function;
step S102: and defining the data interface corresponding to the basic function as a module level interface, and defining the data interface corresponding to the system function as a system level interface.
The functional modules of the automatic driving system are divided into layers, data interfaces defined on the layers and the interaction process of the functional modules among the layers, so that the mutual relation among the functional modules is clearly defined. And the test semantics continuously and clearly describe the relationship between the starting of the functional module and the data interaction of the module.
In one embodiment, as shown in fig. 3, after step S20, the method further includes:
step S21: and if the matched data interface is not inquired, performing function expansion on the basic level data interface or the system level data interface according to the test semantics of the simulation system to generate an expanded function data interface.
The generated extended function data interface can be effectively matched with an interface of a simulation system, so that data can be transmitted in the automatic driving system and the simulation system. And defining a data standard unified on each layer by using the provided extended interface.
In one embodiment, the module level data interface comprises a perception module interface, a data summarization module interface, a decision module interface and a prediction module interface;
the system level data interface comprises a region module interface, a control module interface and a processing module interface.
Of course, the module-level data interface and the system-level data interface include but are not limited to the above, and may be designed variously according to actual situations, and are better adapted to the interface of the simulation system, which are all within the protection scope of this embodiment.
Example two
In another embodiment, a simulation system adapting device is provided, as shown in fig. 4, the device comprising:
the interface hierarchical division module 10 is configured to divide data interfaces corresponding to a plurality of functional modules in the automatic driving system into a base-level data interface set and a system-level data interface set;
the interface matching module 20 is configured to traverse the base-level data interface set and the system-level data interface set, and query a data interface matched with the data interface of the simulation system;
and the functional test module 30 is used for testing the functional module by using the test semantics of the simulation system through the matched data interface.
In one embodiment, as shown in fig. 5, the interface hierarchy partitioning module 10 includes:
the function dividing unit 101 is configured to acquire multiple basic functions in the automatic driving system, and combine the multiple basic functions into at least one system function;
the interface definition unit 102 is configured to define a data interface corresponding to the basic function as a module-level interface, and define a data interface corresponding to the system function as a system-level interface.
In one embodiment, as shown in fig. 6, the apparatus further comprises:
and the interface expansion module 40 is used for performing function expansion on the basic level data interface or the system level data interface according to the test semantics of the simulation system to generate an expanded function data interface if the matched data interface is not inquired.
EXAMPLE five
An embodiment of the present invention provides an adaptive terminal for a simulation system, as shown in fig. 7, including:
a memory 400 and a processor 500, the memory 400 having stored therein a computer program operable on the processor 500. The processor 500, when executing the computer program, implements the simulation system adaptation method in the above-described embodiments. The number of the memory 400 and the processor 500 may be one or more.
A communication interface 600 for the memory 400 and the processor 500 to communicate with the outside.
If the memory 400, the processor 500 and the communication interface 600 are implemented independently, the memory 400, the processor 500 and the communication interface 600 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. 7, but this is not intended to represent only one bus or type of bus.
Optionally, in a specific implementation, if the memory 400, the processor 500, and the communication interface 600 are integrated on a single chip, the memory 400, the processor 500, and the communication interface 600 may complete communication with each other through an internal interface.
Example four
A computer-readable storage medium storing a computer program which, when executed by a processor, implements a simulation system adaptation method as in any one of embodiments one included.
Embodiments of the present invention provide a computer program product comprising a computer program/instructions which, when executed by a processor, implement a method as in any of the above embodiments.
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. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
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. More specific examples (a non-exhaustive list) of the computer-readable 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 medium could 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.
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 (9)
1. A simulation system adaptation method, comprising:
dividing data interfaces corresponding to a plurality of functional modules in an automatic driving system into a basic level data interface set and a system level data interface set; the basic level data interface is an interface of a basic function module, the system level data interface is an interface of a system function module, and the system level function module is a previous-layer function module of the basic level function module designed by using the basic level function module;
traversing the basic level data interface set and the system level data interface set, and inquiring a data interface matched with a data interface of the simulation system;
carrying out data exchange between the automatic driving system and the simulation system through a matched data interface to test the functional module; the test semantics are used to define data interaction paths and describe the test process.
2. The method of claim 1, wherein dividing data interfaces corresponding to a plurality of function modules in an autopilot system into a base-level data interface set and a system-level data interface set comprises:
acquiring multiple basic functions in the automatic driving system, and combining the multiple basic functions into at least one system function;
and defining the data interface corresponding to the basic function as a module-level data interface, and defining the data interface corresponding to the system function as a system-level interface.
3. The method of claim 1, after querying the data interface matching the data interface of the simulation system, further comprising:
and if the matched data interface is not inquired, performing function expansion on the basic level data interface or the system level data interface according to the test semantics of the simulation system to generate an expanded function data interface.
4. The method of claim 2, wherein the module-level data interfaces include a perception module interface, a data summarization module interface, a decision module interface, and a prediction module interface;
the system-level data interface comprises a region module interface, a control module interface and a processing module interface.
5. An apparatus for adapting a simulation system, comprising:
the interface hierarchical division module is used for dividing data interfaces corresponding to a plurality of functional modules in the automatic driving system into a basic level data interface set and a system level data interface set; the system-level data interface is an interface of a system function module, and the system-level function module is a previous-layer function module of the basic-level function module designed by using the basic-level function module;
the interface matching module is used for traversing the basic level data interface set and the system level data interface set and inquiring a data interface matched with the data interface of the simulation system;
the function testing module is used for exchanging the data of the automatic driving system and the simulation system through a matched data interface according to the testing semantics of the simulation system so as to test the function module; the test semantics are used to define data interaction paths and describe the test process.
6. The apparatus of claim 5, wherein the interface hierarchy partitioning module comprises:
the function dividing unit is used for acquiring a plurality of basic functions in the automatic driving system and combining the plurality of basic functions into at least one system function;
and the interface definition unit is used for defining the data interface corresponding to the basic function as a module-level data interface and defining the data interface corresponding to the system function as a system-level interface.
7. The apparatus of claim 5, further comprising:
and the interface expansion module is used for performing function expansion on the basic level data interface or the system level data interface according to the test semantics of the simulation system to generate an expanded function data interface if the matched data interface is not inquired.
8. An emulation system adapting terminal, comprising:
one or more processors;
a memory 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 recited in any of claims 1-4.
9. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-4.
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