CN112581633A - In-loop virtual simulation test method and system for vehicle with automatic driving function - Google Patents
In-loop virtual simulation test method and system for vehicle with automatic driving function Download PDFInfo
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Abstract
The invention provides an in-loop virtual simulation test method and system for a vehicle with an automatic driving function, wherein the method comprises the following steps: real road traffic scene information of the automatically driven vehicle is collected through a drive test, a virtual simulation scene is obtained by adopting a digital twinning method and is stored in a vehicle-mounted industrial personal computer or on a cloud end of a vehicle networking data platform. The automatic driving vehicle is internally provided with VR display equipment, when the automatic driving vehicle automatically drives according to the simulation scene, the vehicle-mounted industrial personal computer transmits the simulation scene to the VR display equipment through running virtual simulation software, and a vehicle passenger enters the digital virtual scene through the VR display equipment. The automatic driving vehicle is internally provided with high-precision positioning navigation equipment, and the vehicle-mounted industrial personal computer accurately measures vehicle driving data and driving tracks through the high-precision positioning navigation equipment and uploads the vehicle driving data and the driving tracks to the vehicle networking data platform for data analysis. The invention can improve the accuracy and efficiency of vehicle test and reduce the test cost.
Description
Technical Field
The invention relates to the technical field of automatic driving vehicle testing, in particular to an in-loop virtual simulation testing method and system for a vehicle with an automatic driving function.
Background
The Vehicle-To-electric (V2X for short) network provides Vehicle information through sensors, Vehicle-mounted terminals and electronic tags mounted on vehicles, and various communication technologies are used To implement interconnection and intercommunication between vehicles (V2V for short), vehicles and roads (V2I for short) and vehicles and people (V2P for short), and information is extracted and shared on an information network platform, so as To effectively control and provide comprehensive services for vehicles.
With the continuous upgrading and popularization of technologies and products, in the visible future, there will be situations where an autonomous automobile and a vehicle driven by a human driver are simultaneously driven on a road, which will have an influence on the existing traffic conditions. Because whether the planning mode of the automatic driving automobile is suitable for manual regulation or not, virtual testing is needed, but a fatal defect of the existing simulation test of the automatic driving function lies in the reality of a scene. Therefore, how to carry out virtual simulation test on the automatic driving function vehicle based on the real environment has important significance.
Disclosure of Invention
The invention provides a vehicle in-loop virtual simulation test method and system with an automatic driving function, which solve the problem that the existing vehicle driving simulation has unreal scenes, can improve the accuracy and efficiency of vehicle test, and reduce the test cost.
In order to achieve the above purpose, the invention provides the following technical scheme:
an automatic driving function vehicle in-loop virtual simulation test method comprises the following steps:
collecting real road traffic scene information of the automatically driven vehicle through a road test, obtaining a virtual simulation scene by adopting a digital twinning method, and storing the virtual simulation scene in a vehicle-mounted industrial personal computer or on the cloud end of a vehicle networking data platform;
the automatic driving vehicle is internally provided with VR display equipment, when the automatic driving vehicle automatically drives according to the simulation scene, the vehicle-mounted industrial personal computer transmits the simulation scene to the VR display equipment through running virtual simulation software, and a vehicle passenger enters the digital virtual scene through the VR display equipment;
the automatic driving vehicle is internally provided with high-precision positioning navigation equipment, and the vehicle-mounted industrial personal computer accurately measures vehicle driving data and driving tracks through the high-precision positioning navigation equipment and uploads the vehicle driving data and the driving tracks to the vehicle networking data platform for data analysis.
Preferably, the method further comprises the following steps:
be provided with OBU communication unit in the autopilot vehicle, the autopilot vehicle passes through OBU communication unit carries out data interaction with the road side equipment RSU who sets up in the test field, road side equipment RSU carries out data communication through the car networking and car networking data platform.
Preferably, the method further comprises the following steps:
if the simulation scene is stored on the cloud end of the vehicle-connected data platform, the vehicle-connected data platform sends the simulation scene to the road side equipment RSU for broadcasting, and the vehicle-mounted industrial personal computer receives the simulation scene through the OBU communication unit.
Preferably, the method further comprises the following steps:
setting communication connection between a mobile terminal and a vehicle networking data platform, and after a vehicle passenger watches a digital virtual scene through the VR display equipment, subjectively evaluating the function of an automatic driving vehicle through the mobile terminal;
and the Internet of vehicles data platform carries out test scoring according to the evaluation data, the vehicle driving data and the driving track uploaded by the mobile terminal.
Preferably, the vehicle-mounted industrial personal computer accurately measures vehicle driving data and driving tracks through the high-precision positioning navigation equipment, and the method comprises the following steps:
the Internet of vehicles data platform simulates according to the simulation scene to obtain a simulation road track, and sends the simulation road track to the road side equipment RSU for broadcasting;
the automatic driving vehicle receives the simulated road track through the OBU communication unit and carries out automatic driving according to the simulated road track;
the vehicle-mounted industrial personal computer acquires centimeter-level satellite positioning signals of the vehicle through the high-precision positioning navigation equipment and forms driving tracks of the vehicle according to the simulated road tracks and the satellite positioning signals.
Preferably, the vehicle-mounted industrial personal computer accurately measures vehicle driving data and driving tracks through the high-precision positioning navigation equipment, and further comprises:
the method comprises the following steps of obtaining vehicle running data through a CAN bus or high-precision positioning navigation equipment, and using the vehicle running data as input data of vehicle driving of simulation software to obtain automatic driving vehicle running data, wherein the vehicle running data comprises: vehicle position, vehicle speed, acceleration, yaw angle, and yaw rate.
The invention also provides an automatic driving function vehicle in-loop virtual simulation test system, which comprises: the system comprises a vehicle-mounted industrial personal computer, VR display equipment, high-precision positioning navigation equipment and a vehicle networking data platform;
the vehicle-mounted industrial personal computer is respectively in signal connection with the VR display equipment and the high-precision positioning navigation equipment;
real road traffic scene information of the automatically driven vehicle collected by a drive test is stored in the vehicle-mounted industrial personal computer, and a virtual simulation scene is obtained by adopting a digital twinning method;
when an automatic driving vehicle automatically drives according to the simulation scene, the vehicle-mounted industrial personal computer transmits the simulation scene to VR display equipment through running virtual simulation software, and a vehicle passenger enters the digital virtual scene through the VR display equipment;
the vehicle-mounted industrial personal computer accurately measures the vehicle driving data and the driving track through the high-precision positioning navigation equipment and uploads the vehicle driving data and the driving track to a vehicle networking data platform for data analysis.
Preferably, the method further comprises the following steps: the system comprises an OBU communication unit and RSU road side equipment;
the RSU road side equipment is arranged in a test field, when the simulation scene is stored at the cloud end of the vehicle-connected data platform, the vehicle-connected data platform sends the simulation scene to the RSU of the road side equipment for broadcasting, and the vehicle-mounted industrial personal computer receives the simulation scene through the OBU communication unit.
Preferably, the method further comprises the following steps: a mobile terminal;
the mobile terminal is in signal connection with the Internet of vehicles data platform, and after a vehicle passenger watches a digital virtual scene through the VR display equipment, subjective evaluation is carried out on an automatic running vehicle through the mobile terminal;
and the Internet of vehicles data platform carries out test scoring according to the evaluation data, the vehicle driving data and the driving track uploaded by the mobile terminal.
Preferably, the vehicle-mounted industrial personal computer obtains vehicle operation data through a CAN bus or the high-precision positioning navigation device, and the vehicle operation data is used as input data of vehicle driving of simulation software to obtain vehicle driving data of automatic driving, wherein the vehicle driving data comprises: vehicle position, vehicle speed, acceleration, yaw angle, and yaw rate;
the vehicle-mounted industrial personal computer acquires centimeter-level satellite positioning signals of the vehicle through the high-precision positioning navigation equipment, and forms driving tracks of the vehicle according to the simulated road tracks and the satellite positioning signals. The invention provides an in-loop virtual simulation test method and system for a vehicle with an automatic driving function. The problem that the scene of the existing vehicle driving simulation is not real enough is solved, the accuracy and the efficiency of vehicle testing can be improved, and the testing cost is reduced.
Drawings
In order to more clearly describe the specific embodiments of the present invention, the drawings to be used in the embodiments will be briefly described below.
FIG. 1 is a schematic diagram of an in-loop virtual simulation test method for a vehicle with an automatic driving function provided by the invention.
FIG. 2 is a schematic diagram of an in-loop virtual simulation test system for an automatic driving function vehicle provided by the invention.
FIG. 3 is a communication diagram of a test system according to the present invention.
Detailed Description
In order to make the technical field of the invention better understand the scheme of the embodiment of the invention, the embodiment of the invention is further described in detail with reference to the drawings and the implementation mode.
The invention provides an in-loop virtual simulation test method and system for an automatic driving function vehicle, aiming at the defect of scene authenticity when the current automatic driving vehicle carries out simulation test, a vehicle-mounted industrial personal computer, an OBU communication unit, VR display equipment and high-precision positioning navigation equipment are arranged in the vehicle, simulation software operated by the vehicle-mounted industrial personal computer simulates a real road traffic scene to obtain a simulation scene, when the automatic driving vehicle carries out automatic driving according to the simulation scene, a vehicle passenger enters a digital virtual scene through the VR display equipment, the vehicle-mounted industrial personal computer collects vehicle driving data, and uploads the vehicle driving data to a vehicle networking data platform through the OBU communication unit so as to carry out data analysis. The problem that the scene of the existing vehicle driving simulation is not real enough can be solved, the accuracy and the efficiency of vehicle testing can be improved, and the testing cost is reduced.
As shown in fig. 1, an in-loop virtual simulation test method for an automatic driving function vehicle includes:
s1: collecting real road traffic scene information of the automatically driven vehicle through a road test, obtaining a virtual simulation scene by adopting a digital twinning method, and storing the virtual simulation scene in a vehicle-mounted industrial personal computer or on the cloud end of a vehicle networking data platform;
s2: the automatic driving vehicle is internally provided with VR display equipment, when the automatic driving vehicle automatically drives according to the simulation scene, the vehicle-mounted industrial personal computer transmits the simulation scene to the VR display equipment through running virtual simulation software, and a vehicle passenger enters the digital virtual scene through the VR display equipment;
s3: the automatic driving vehicle is internally provided with high-precision positioning navigation equipment, and the vehicle-mounted industrial personal computer accurately measures vehicle driving data and driving tracks through the high-precision positioning navigation equipment and uploads the vehicle driving data and driving tracks to the vehicle networking data platform for data analysis;
specifically, an automatic driving system is mounted on a test vehicle, so that the functions of automatic driving speed control, automatic steering lane changing and the like can be realized. The test vehicle carries high-precision positioning navigation equipment, and the motion state and the driving track of the vehicle can be accurately measured. The test vehicle carries a V2X OBU (On-board Unit) communication Unit to realize communication with the background data center. The test vehicle carries on the on-vehicle industrial computer, and this industrial computer main function is as follows: a large amount of simulation scene data generated by a digital twinning method is stored; and running virtual simulation software as digital signal input of the VR display device. Simultaneously collecting CAN bus data of the vehicle and information of a high-precision positioning system; and sends scene data, vehicle CAN bus data and high-precision positioning system data to the OBU in real time so as to be transmitted to the background data center. The test vehicle carries on wear-type VR display device, and the automatic drive passenger wears VR display device, sees current virtual scene through this equipment. The digital twin method comprises the steps of acquiring original signals (point cloud, visual image and the like) of a real traffic scene through sensors (laser radar, a camera and the like) according to real traffic scene information, and carrying out true value marking on the original data through an automatic marking algorithm to generate a driving scene; and converting the driving scene into a structural speech data format which can be supported by simulation software, so that a digital twin-simulation scene of the real scene can be generated.
When the vehicle carries out automatic driving test, the automatic driving vehicle collects real road traffic scenes through road test, obtains virtual simulation scenes through a digital twinning method, and stores the virtual simulation scenes in a vehicle-mounted industrial personal computer platform. During testing, the vehicle is placed in an open testing field, a tester selects a scene to be tested, simulation software is started, and the vehicle is started to test. The driver wears the VR display, and after the tester started the simulation software of industrial computer, the scene of simulation software was transmitted to the VR display. The driver can see the current simulation scene through the VR display worn on the head. Data (such as speed, acceleration, output of an automatic driving function module and the like) of the automatic driving vehicle are transmitted to the industrial personal computer through the CAN bus of the vehicle and are used as input of vehicle driving data of simulation software. Meanwhile, data of a high-precision positioning system carried by the vehicle is also transmitted to the vehicle-mounted industrial personal computer and is used as positioning data of simulation software, so that effective combination of a simulation scene and real positioning is realized. The method can improve the accuracy and efficiency of vehicle testing and reduce the testing cost.
The method further comprises the following steps:
s4: be provided with OBU communication unit in the autopilot vehicle, the autopilot vehicle passes through OBU communication unit carries out data interaction with the road side equipment RSU who sets up in the test field, road side equipment RSU carries out data communication through the car networking and car networking data platform.
Specifically, roadside device RSU passes through the car networking and car networking data platform internet of things, and roadside device RSU passes through OBU communication unit and is connected with automatic driving's vehicle mounted terminal communication, when carrying out V2X road test, according to the test scene demand, sets up corresponding road information, need not actually to arrange the road and wait for corresponding weather. The RSU road side equipment transmits road information sent by the OBU communication unit to the vehicle automatic driving system so as to simulate a road scene when the vehicle carries out vehicle networking, and test efficiency is improved. In practical applications, the RSU roadside apparatus also collects vehicle information and traffic information on an actual road.
The method further comprises the following steps:
s5: if the simulation scene is stored on the cloud end of the vehicle-connected data platform, the vehicle-connected data platform sends the simulation scene to the road side equipment RSU for broadcasting, and the vehicle-mounted industrial personal computer receives the simulation scene through the OBU communication unit.
The method further comprises the following steps:
s6: and setting a communication connection between the mobile terminal and the Internet of vehicles data platform, and after the vehicle passenger watches the digital virtual scene through the VR display equipment, subjectively evaluating the function of the automatic running vehicle through the mobile terminal.
S7: and the Internet of vehicles data platform carries out test scoring according to the evaluation data, the vehicle driving data and the driving track uploaded by the mobile terminal.
Specifically, the test vehicle carries a subjective evaluation software tool. The active evaluation software tool is integrated in a mobile terminal (such as a PAD, a smart phone), and a user performs subjective evaluation on functions through the mobile terminal after experiencing the automatic driving function. When the vehicle got up in spacious place motion, the driver watched the digital scene through VR display device, experienced the travelling comfort of autopilot function. After each scene test is finished, the driver subjectively evaluates and scores the automatic driving function through a subjectively evaluated software tool. The subjective evaluation tool and the vehicle-mounted industrial personal computer can realize wireless communication, and subjective evaluation data and other test data are stored together, so that the subsequent analysis of testers is facilitated.
Further, the test vehicle is also equipped with an emergency automatic stop button through which a passenger who is automatically driving the vehicle stops automatically in a dangerous situation.
In the test process, if the tester meets any emergency situation, the emergency stop of the vehicle can be realized through the emergency stop button of the vehicle so as to avoid the occurrence of safety accidents.
The vehicle-mounted industrial personal computer accurately measures vehicle driving data and driving tracks through the high-precision positioning navigation equipment, and comprises the following steps:
and the Internet of vehicles data platform simulates the simulation scene to obtain a simulation road track and sends the simulation road track to the road side equipment RSU for broadcasting.
And the automatic driving vehicle receives the simulation road track through the OBU communication unit and carries out automatic driving according to the simulation road track.
The vehicle-mounted industrial personal computer acquires centimeter-level satellite positioning signals of the vehicle through the high-precision positioning navigation equipment and forms driving tracks of the vehicle according to the simulated road tracks and the satellite positioning signals.
Further, the on-vehicle industrial computer passes through the accurate measurement of high accuracy positioning navigation equipment obtains vehicle data of traveling and driving orbit, still includes:
the method comprises the following steps of obtaining vehicle running data through a CAN bus or high-precision positioning navigation equipment, and using the vehicle running data as input data of vehicle driving of simulation software to obtain automatic driving vehicle running data, wherein the vehicle running data comprises: vehicle position, vehicle speed, acceleration, yaw angle, and yaw rate.
The invention provides an in-loop virtual simulation test method for a vehicle with an automatic driving function, which comprises the steps of arranging a vehicle-mounted industrial personal computer, VR display equipment and high-precision positioning navigation equipment in the vehicle, simulating a real road traffic scene by simulation software operated by the vehicle-mounted industrial personal computer to obtain a simulation scene, entering a digital virtual scene by a vehicle passenger through the VR display equipment when the automatic driving vehicle automatically drives according to the simulation scene, collecting vehicle driving data by the vehicle-mounted industrial personal computer, and uploading the vehicle driving data to a vehicle networking data platform for data analysis. The problem that the scene of the existing vehicle driving simulation is not real enough can be solved, the accuracy and the efficiency of vehicle testing can be improved, and the testing cost is reduced.
Accordingly, as shown in fig. 2 and 3, the present invention further provides an automatic driving function vehicle in-loop virtual simulation test system, including: vehicle-mounted industrial personal computer VR display device, high-precision positioning navigation equipment and car networking data platform. And the vehicle-mounted industrial personal computer is in signal connection with the VR display equipment and the high-precision positioning navigation equipment respectively. The vehicle-mounted industrial personal computer is internally stored with real road traffic scene information of an automatic driving vehicle collected by a drive test, and adopts a digital twinning method to obtain a virtual simulation scene, when the automatic driving vehicle automatically drives according to the simulation scene, the vehicle-mounted industrial personal computer transmits the simulation scene to VR display equipment through running virtual simulation software, and a vehicle passenger enters the digital virtual scene through the VR display equipment. The vehicle-mounted industrial personal computer accurately measures the vehicle driving data and the driving track through the high-precision positioning navigation equipment and uploads the vehicle driving data and the driving track to a vehicle networking data platform for data analysis.
The system further comprises: the system comprises an OBU communication unit and RSU road side equipment; the RSU road side equipment is arranged in a test field, when the simulation scene is stored at the cloud end of the vehicle-connected data platform, the vehicle-connected data platform sends the simulation scene to the RSU of the road side equipment for broadcasting, and the vehicle-mounted industrial personal computer receives the simulation scene through the OBU communication unit.
The system further comprises: a mobile terminal; the mobile terminal is in signal connection with the Internet of vehicles data platform, and after a vehicle passenger watches a digital virtual scene through the VR display equipment, subjective evaluation is conducted on an automatic driving vehicle through the mobile terminal. And the Internet of vehicles data platform carries out test scoring according to the evaluation data, the vehicle driving data and the driving track uploaded by the mobile terminal.
Further, the vehicle-mounted industrial personal computer obtains vehicle running data through a CAN bus or the high-precision positioning navigation equipment, and the vehicle running data is used as input data of vehicle driving of simulation software to obtain vehicle running data of automatic driving, wherein the vehicle running data comprises: vehicle position, vehicle speed, acceleration, yaw angle, and yaw rate;
the vehicle-mounted industrial personal computer acquires centimeter-level satellite positioning signals of the vehicle through the high-precision positioning navigation equipment, and forms driving tracks of the vehicle according to the simulated road tracks and the satellite positioning signals.
The vehicle-mounted industrial personal computer, the VR display device and the high-precision positioning navigation device are arranged in the vehicle, simulation software operated by the vehicle-mounted industrial personal computer simulates a real road traffic scene to obtain a simulation scene, when an automatic driving vehicle automatically drives according to the simulation scene, a vehicle passenger enters the digital virtual scene through the VR display device, the vehicle-mounted industrial personal computer collects vehicle driving data and uploads the vehicle driving data to a vehicle networking data platform for data analysis. The problem that the scene of the existing vehicle driving simulation is not real enough is solved, the accuracy and the efficiency of vehicle testing can be improved, and the testing cost is reduced.
The construction, features and functions of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the present invention is not limited to the embodiments shown in the drawings, and all equivalent embodiments modified or modified by the spirit and scope of the present invention should be protected without departing from the spirit of the present invention.
Claims (10)
1. An in-loop virtual simulation test method for a vehicle with an automatic driving function is characterized by comprising the following steps:
collecting real road traffic scene information of the automatically driven vehicle through a road test, obtaining a virtual simulation scene by adopting a digital twinning method, and storing the virtual simulation scene in a vehicle-mounted industrial personal computer or on the cloud end of a vehicle networking data platform;
the automatic driving vehicle is internally provided with VR display equipment, when the automatic driving vehicle automatically drives according to the simulation scene, the vehicle-mounted industrial personal computer transmits the simulation scene to the VR display equipment through running virtual simulation software, and a vehicle passenger enters the digital virtual scene through the VR display equipment;
the automatic driving vehicle is internally provided with high-precision positioning navigation equipment, and the vehicle-mounted industrial personal computer accurately measures vehicle driving data and driving tracks through the high-precision positioning navigation equipment and uploads the vehicle driving data and the driving tracks to the vehicle networking data platform for data analysis.
2. The automatic driving function vehicle in-loop virtual simulation test method according to claim 1, further comprising:
be provided with OBU communication unit in the autopilot vehicle, the autopilot vehicle passes through OBU communication unit carries out data interaction with the road side equipment RSU who sets up in the test field, road side equipment RSU carries out data communication through the car networking and car networking data platform.
3. The automatic driving function vehicle in-loop virtual simulation test method according to claim 2, further comprising:
if the simulation scene is stored on the cloud end of the vehicle-connected data platform, the vehicle-connected data platform sends the simulation scene to the road side equipment RSU for broadcasting, and the vehicle-mounted industrial personal computer receives the simulation scene through the OBU communication unit.
4. The automatic driving function vehicle in-loop virtual simulation test method according to claim 3, further comprising:
setting communication connection between a mobile terminal and a vehicle networking data platform, and after a vehicle passenger watches a digital virtual scene through the VR display equipment, subjectively evaluating the function of an automatic driving vehicle through the mobile terminal;
and the Internet of vehicles data platform carries out test scoring according to the evaluation data, the vehicle driving data and the driving track uploaded by the mobile terminal.
5. The in-loop virtual simulation test method for the vehicle with the automatic driving function according to claim 4, wherein the vehicle-mounted industrial personal computer accurately measures vehicle driving data and driving tracks through the high-precision positioning navigation equipment, and comprises the following steps:
the Internet of vehicles data platform simulates according to the simulation scene to obtain a simulation road track, and sends the simulation road track to the road side equipment RSU for broadcasting;
the automatic driving vehicle receives the simulated road track through the OBU communication unit and carries out automatic driving according to the simulated road track;
the vehicle-mounted industrial personal computer acquires centimeter-level satellite positioning signals of the vehicle through the high-precision positioning navigation equipment and forms driving tracks of the vehicle according to the simulated road tracks and the satellite positioning signals.
6. The in-loop virtual simulation test method for the vehicle with the automatic driving function according to claim 4, wherein the vehicle-mounted industrial personal computer accurately measures vehicle driving data and driving tracks through the high-precision positioning navigation equipment, and further comprises:
the method comprises the following steps of obtaining vehicle running data through a CAN bus or high-precision positioning navigation equipment, and using the vehicle running data as input data of vehicle driving of simulation software to obtain automatic driving vehicle running data, wherein the vehicle running data comprises: vehicle position, vehicle speed, acceleration, yaw angle, and yaw rate.
7. An automatic driving function vehicle in-the-loop virtual simulation test system is characterized by comprising: the system comprises a vehicle-mounted industrial personal computer, VR display equipment, high-precision positioning navigation equipment and a vehicle networking data platform;
the vehicle-mounted industrial personal computer is respectively in signal connection with the VR display equipment and the high-precision positioning navigation equipment;
real road traffic scene information of the automatically driven vehicle collected by a drive test is stored in the vehicle-mounted industrial personal computer, and a virtual simulation scene is obtained by adopting a digital twinning method;
when an automatic driving vehicle automatically drives according to the simulation scene, the vehicle-mounted industrial personal computer transmits the simulation scene to VR display equipment through running virtual simulation software, and a vehicle passenger enters the digital virtual scene through the VR display equipment;
the vehicle-mounted industrial personal computer accurately measures the vehicle driving data and the driving track through the high-precision positioning navigation equipment and uploads the vehicle driving data and the driving track to a vehicle networking data platform for data analysis.
8. The automatic driving function vehicle in-loop virtual simulation test system of claim 7, further comprising: the system comprises an OBU communication unit and RSU road side equipment;
the RSU road side equipment is arranged in a test field, when the simulation scene is stored at the cloud end of the vehicle-connected data platform, the vehicle-connected data platform sends the simulation scene to the RSU of the road side equipment for broadcasting, and the vehicle-mounted industrial personal computer receives the simulation scene through the OBU communication unit.
9. The automatic driving function vehicle in-loop virtual simulation test system of claim 8, further comprising: a mobile terminal;
the mobile terminal is in signal connection with the Internet of vehicles data platform, and after a vehicle passenger watches a digital virtual scene through the VR display equipment, subjective evaluation is carried out on an automatic running vehicle through the mobile terminal;
and the Internet of vehicles data platform carries out test scoring according to the evaluation data, the vehicle driving data and the driving track uploaded by the mobile terminal.
10. The automatic driving function vehicle in-loop virtual simulation test system of claim 9, wherein the vehicle-mounted industrial personal computer obtains vehicle operation data through a CAN bus or the high-precision positioning navigation device, and uses the vehicle operation data as input data of vehicle driving of simulation software to obtain automatic driving vehicle driving data, and the vehicle driving data comprises: vehicle position, vehicle speed, acceleration, yaw angle, and yaw rate;
the vehicle-mounted industrial personal computer acquires centimeter-level satellite positioning signals of the vehicle through the high-precision positioning navigation equipment, and forms driving tracks of the vehicle according to the simulated road tracks and the satellite positioning signals.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112948270A (en) * | 2021-04-06 | 2021-06-11 | 东风小康汽车有限公司重庆分公司 | Method, device, equipment and medium for road test simulation analysis of automatic driving vehicle |
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| CN113268428A (en) * | 2021-06-16 | 2021-08-17 | 一汽解放汽车有限公司 | Test method and system of fleet management system, storage medium and electronic device |
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| CN115575982A (en) * | 2022-11-24 | 2023-01-06 | 中汽研软件测评(天津)有限公司 | Method, apparatus and storage medium for determining robustness of vehicle-mounted satellite positioning system |
| CN116881108A (en) * | 2023-09-01 | 2023-10-13 | 安徽高灯微行科技有限公司 | Vehicle ETC function monitoring method and device, vehicle, storage medium and product |
| CN116881108B (en) * | 2023-09-01 | 2023-11-28 | 安徽高灯微行科技有限公司 | Vehicle ETC function monitoring method and device, vehicle, storage medium and product |
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