CN113064487A - Interactive virtual simulation system - Google Patents
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Abstract
The invention discloses an interactive virtual simulation system, which comprises: the system comprises a traffic simulation subsystem, an automatic driving simulation subsystem, a simulated driving subsystem and a fusion subsystem; the traffic simulation subsystem constructs a virtual traffic scene according to the state data of various real traffic elements; the automatic driving simulation subsystem is used for generating a test vehicle model and determining an automatic driving instruction of the test vehicle model; the simulated driving subsystem is used for generating a virtual driving vehicle model and generating a real-time driving instruction of the virtual driving vehicle model; the fusion subsystem controls the test vehicle model to drive in the virtual traffic scene according to the automatic driving instruction; or controlling the virtual driving vehicle model to drive in the virtual traffic scene according to the driving instruction. The invention can simultaneously carry out performance test on the automatic driving vehicle and the manned vehicle based on the real traffic scene, can also carry out simulation driving training, and has the characteristics of multiple functions, low cost and high efficiency.
Description
Technical Field
The invention relates to the technical field of traffic driving, in particular to a traffic and driving interactive virtual simulation system.
Background
The research on the traffic problem by adopting the computer simulation technology has the characteristics of economy, safety, high efficiency and the like. At present, in the field of road traffic, a computer simulation technology is mainly used for two aspects of traffic simulation and driving simulation. The traffic simulation system solves the problems in the fields of traffic management, road planning, traffic influence evaluation, unmanned automobile testing and the like by simulating the dynamic characteristics of a road network and traffic flow.
The driving behavior of the automobile has various characteristics of complexity, ambiguity, self-learning, correlation and the like. The traditional automobile driving training mode mostly adopts real vehicle teaching, and the limitation of teaching application is large. The performance of an unmanned vehicle needs to be tested in the research and development process and before the conventional automobile leaves a factory. The existing test system is generally divided into real vehicle test and simulation test, the real vehicle test needs to occupy a real road, the test cost is high, certain test risk is realized, traffic accidents are easy to happen, and the test data accumulation speed is low. In addition, the automobile driving training mode is also based on teaching practice experience, and the limitation of teaching application is large.
The driving simulation can enable a driver or an unmanned vehicle to be in a traffic simulation system, is not limited by time, climate and places, and has the advantages of vivid simulation effect, low cost, high efficiency and the like.
However, the existing traffic simulation scene generally simulates and constructs virtual traffic data or uses pre-recorded traffic data according to a certain rule, and because the simulated vehicles do not exist in the data recording process, the interaction between the simulated vehicles and the traffic scene cannot be realized in the simulation process. The virtual traffic data constructed by simulation according to a certain rule often has difference with the real traffic data, and the reality is poor.
Therefore, how to provide an interactive virtual simulation system capable of testing a driving vehicle and performing driving training based on real traffic data is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides an interactive virtual simulation system, which can simultaneously test an automatic driving vehicle and a manned vehicle based on a real traffic scene, can also perform driving training, and has the characteristics of multiple functions, low cost and high efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
an interactive virtual simulation system comprising: the system comprises a traffic simulation subsystem, an automatic driving simulation subsystem, a simulated driving subsystem and a fusion subsystem;
the traffic simulation subsystem is used for constructing a virtual traffic scene according to the state data of various real traffic elements in the target traffic network;
the automatic driving simulation subsystem is used for generating a test vehicle model and determining an automatic driving instruction of the test vehicle model according to the virtual traffic scene and an automatic driving algorithm;
the simulated driving subsystem is used for generating a virtual driving vehicle model and generating a driving instruction of the virtual driving vehicle model according to the real action of a driver;
the fusion subsystem is used for controlling the test vehicle model to drive in the virtual traffic scene according to the automatic driving instruction and updating the virtual traffic scene in real time; or controlling the virtual driving vehicle model to drive in the virtual traffic scene according to the driving instruction, and updating the virtual traffic scene in real time.
Preferably, in the above interactive virtual simulation system, the traffic simulation subsystem includes a state acquisition module, a traffic flow simulation module, a road environment simulation module, a meteorological environment simulation module, and a scene fusion module;
the state acquisition module is used for acquiring traffic flow data and GIS map data of various real traffic elements in a target traffic network;
the traffic flow simulation module is used for simulating various small cars, trucks, buses, non-motor vehicles and pedestrians according to the traffic flow data to generate a mixed traffic flow scene;
the road environment simulation module is used for creating three-dimensional models of roads, road along facilities and obstacles according to the GIS map data and generating a road environment scene;
the weather simulation module is used for simulating the current weather environment to generate a weather environment scene;
the scene fusion module is used for fusing the mixed traffic flow scene, the road environment scene and the meteorological environment scene to generate the virtual traffic scene.
Preferably, in the above interactive virtual simulation system, the facilities along the road at least include road isolation facilities, signal lamps, electric poles, plants, municipal facilities and road surface buildings.
Preferably, in the above interactive virtual simulation system, the automated driving simulation subsystem includes: the system comprises a test vehicle simulation module, a simulation sensor module and a first control module;
the test vehicle simulation module is used for generating the test vehicle model; the test vehicle model includes a body dynamics model, an engine thermodynamics model, an engine model, a tire model, a powertrain model, a braking system model, a cooling system model, and an electrical system model;
the simulation sensor module is used for establishing a sensor model; the sensor model is used for detecting a sensing signal generated by the test vehicle model in the driving process under the virtual traffic scene;
the first control module is used for generating an automatic driving instruction according to the sensing signal and the power performance of the test vehicle model;
and the fusion subsystem is used for controlling the running state of the test vehicle model under the virtual traffic scene according to the automatic driving instruction.
Preferably, in the above interactive virtual simulation system, the sensor model includes one or more of a camera model, a lidar model, a millimeter-wave lidar model, and a positioning navigation model.
Preferably, in the above interactive virtual simulation system, the simulated driving subsystem includes: the system comprises a virtual driving vehicle simulation module, a human-vehicle interaction module and a second control module;
the virtual driving vehicle simulation module is used for generating the virtual driving vehicle model;
the human-vehicle interaction module is used for acquiring a real action signal of a driver and converting the action signal into a power signal of the virtual driving vehicle model;
the second control module is used for generating a driving instruction according to the power signal;
and the fusion subsystem controls the running state of the virtual driving vehicle model under the virtual traffic scene according to the driving instruction.
Preferably, in the above interactive virtual simulation system, the human-vehicle interaction module includes a vehicle driving simulator, a conversion module, and a human-vehicle interaction interface;
the vehicle driving simulator is used for generating the action signal according to the actual action of the driver;
the conversion module is used for converting the action signal into a power signal of the virtual driving vehicle model;
the human-vehicle interaction interface is used for dynamically displaying the virtual traffic scene and the three-dimensional image of the virtual driving vehicle model in real time.
Preferably, in the above interactive virtual simulation system, the simulated driving subsystem further includes a virtual driver simulation module;
the virtual driver simulation module is used for generating a three-dimensional image of a virtual driver in a cockpit of the virtual driving vehicle model;
the human-vehicle interaction module also comprises an action recognition module and a dynamic mapping module;
the action recognition module is used for recognizing the attitude signal of the driver by using the data glove and the three-dimensional attitude sensor;
the dynamic mapping module is used for carrying out interactive dynamic mapping on the arm of the real driver and the arm in the three-dimensional image of the virtual driver by a dynamic mapping method;
the virtual driver simulation module also transforms the posture of the virtual driver in real time according to the interactive dynamic mapping state.
Preferably, in the above interactive virtual simulation system, the simulated driving subsystem further includes: an assessment module; the assessment module is used for generating a practical training result according to the running state of the virtual driving vehicle model in the virtual traffic scene; the practical training achievement comprises the practical training score, the driving bad habit and the driving guide suggestion.
Preferably, in the above interactive virtual simulation system, the simulated driving subsystem further includes a growth data analysis and comparison unit; and the growth data analysis and comparison unit is used for drawing a line graph according to multiple training results.
Compared with the prior art, the interactive virtual simulation system disclosed by the invention has the following beneficial effects:
the virtual traffic scene is built based on real traffic elements, so that the real experience is higher and the test effect is good when the automobile performance is tested. The invention can simultaneously support the simulation test of the performance of the automatic driving vehicle and the manned driving, has higher compatibility, is not limited by time, climate and field, has the advantages of vivid simulation effect, low cost, high efficiency and the like, and can also avoid the occurrence of traffic accidents. The invention can also be applied to automobile driving training, so that driving trainees can receive virtual driving training without being limited by time, climate and field, can automatically give optimized driving suggestions, and has the advantages of high driving training efficiency, short training period and the like.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a block diagram illustrating an interactive virtual simulation system according to the present invention;
FIG. 2 is a block diagram of a traffic simulation subsystem according to the present invention;
FIG. 3 is a block diagram of an autopilot simulation subsystem provided by the present invention;
FIG. 4 is a block diagram of a simulated driving subsystem provided by the present invention;
fig. 5 is a block diagram of a human-vehicle interaction module provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an embodiment of the present invention discloses an interactive virtual simulation system, including: the system comprises a traffic simulation subsystem 1, an automatic driving simulation subsystem 2, a simulation driving subsystem 3 and a fusion subsystem 4;
the traffic simulation subsystem 1 is used for constructing a virtual traffic scene according to the state data of various real traffic elements in a target traffic network;
the automatic driving simulation subsystem 2 is used for generating a test vehicle model and determining an automatic driving instruction of the test vehicle model according to the virtual traffic scene and an automatic driving algorithm;
the simulation driving subsystem 3 is used for generating a virtual driving vehicle model and generating a driving instruction of the virtual driving vehicle model according to the real action of a driver;
the fusion subsystem 4 is used for controlling the test vehicle model to drive in the virtual traffic scene according to the automatic driving instruction and updating the virtual traffic scene in real time; or controlling the virtual driving vehicle model to drive in the virtual traffic scene according to the driving instruction, and updating the virtual traffic scene in real time.
As shown in fig. 2, the traffic simulation subsystem 1 includes a state acquisition module 11, a traffic flow simulation module 12, a road environment simulation module 13, a meteorological environment simulation module 14 and a scene fusion module 15;
the state collection module 11 is used for collecting traffic flow data and GIS map data of various real traffic elements in the target traffic network.
In this embodiment, traffic element data in a target traffic network may be acquired through front-end acquisition devices installed on each traffic road segment, such as coil detection, electronic police, license plate recognition, geomagnetism, radio frequency recognition, and the like, and the acquired data is processed and analyzed to serve as traffic flow data of the target traffic network, where the traffic flow data includes, but is not limited to, data of vehicle flow, density, flow velocity, and the like.
The traffic flow simulation module 12 is configured to simulate various small cars, trucks, buses, non-motor vehicles, and pedestrians according to the traffic flow data, and generate a mixed traffic flow scene.
The road environment simulation module 13 is configured to create a three-dimensional model of a road, road facilities, and obstacles according to the GIS map data, and generate a road environment scene.
The weather simulation module 14 is configured to obtain a current weather environment, simulate the current weather environment, and generate a weather environment scene. The weather simulation module 14 is associated with existing weather software, and can acquire the current weather environment in real time, perform simulation on the real weather environment, generate a weather environment scene, test the performance of the vehicle under different weather conditions, and test the psychological quality and the random strain capacity of the driving trainees under different weather conditions.
The scene fusion module 15 is configured to fuse a mixed traffic flow scene, a road environment scene, and a meteorological environment scene to generate a virtual traffic scene.
Wherein, the facilities along the road at least comprise road isolation facilities, signal lamps, electric poles, plants, municipal facilities and pavement buildings.
As shown in fig. 3, the automatic driving simulation subsystem 2 includes: a test vehicle simulation module 21, a simulation sensor module 22 and a first control module 23;
the test vehicle simulation module 21 is used for generating a test vehicle model; the test vehicle models include a body dynamics model, an engine thermodynamics model, an engine model, a tire model, a powertrain model, a braking system model, a cooling system model, and an electrical system model. The test vehicle simulation module 21 can provide a semi-physically parameterized test vehicle model, on one hand, the test vehicle model can be visualized to make the driving process more vivid, and on the other hand, the vehicle parameters of the test vehicle model can be obtained to analyze the driving state of the test vehicle model.
The simulation sensor module 22 is used for establishing a sensor model; the sensor model is used for detecting a sensing signal generated by the test vehicle model in the driving process under the virtual traffic scene. The sensor model comprises one or more of a camera model, a laser radar model, a millimeter wave laser radar model and a positioning navigation model.
The camera model may capture images of the test vehicle model's driving environment, such as lane line images, road sign images, surrounding vehicle images, and the like. The lidar model may detect distances between the test vehicle model and other objects by emitting beams. The millimeter wave lidar model may determine the distance between the test vehicle model and other objects by emitting electromagnetic waves. The positioning navigation model can collect the position information of the test vehicle model. In other embodiments, the sensor model further includes an inertial measurement sensor, a body sensor, and the like.
The first control module 23 is configured to generate an autopilot command according to the sensing signal and a dynamic performance of the test vehicle model.
The fusion subsystem 4 is used for controlling the running state of the test vehicle model under the virtual traffic scene according to the automatic driving instruction.
In one embodiment, as shown in fig. 4, the simulated driving subsystem 3 comprises: the virtual driving vehicle simulation module 31, the human-vehicle interaction module 32 and the second control module 33;
the virtual driving vehicle simulation module 31 is used for generating a virtual driving vehicle model;
the human-vehicle interaction module 32 is used for acquiring a real action signal of a driver and converting the action signal into a power signal of a virtual driving vehicle model;
the second control module 33 is used for generating a driving instruction according to the power signal;
and the fusion subsystem 4 controls the running state of the virtual driving vehicle model in the virtual traffic scene according to the driving instruction.
Specifically, as shown in fig. 5, the human-vehicle interaction module 32 includes a vehicle driving simulator 321, a conversion module 322, and a human-vehicle interaction interface 323;
the vehicle driving simulator 321 is configured to generate a motion signal according to an actual motion of the driver;
the conversion module 322 is used for converting the motion signal into a power signal of a virtual driving vehicle model;
the human-vehicle interaction interface 323 is used for dynamically displaying a virtual traffic scene and a three-dimensional image of a virtual driving vehicle model in real time.
The driving simulation subsystem 3 in the embodiment of the invention can perform simulation test on a general vehicle before the vehicle leaves a factory, and a driver controls the virtual driving vehicle model through the vehicle driving simulator 321, so that the driving simulation subsystem is not limited by places and weather, and can efficiently test the power performance of the vehicle. Meanwhile, the driving learner can also operate the vehicle driving simulator 321 to realize a real driving practice experience.
More advantageously, the simulated driving subsystem 3 further comprises a virtual driver simulation module 34;
the human-vehicle interaction module 32 further comprises an action recognition module 324 and a dynamic mapping module 325;
the virtual driver simulation module 34 is used to generate a three-dimensional image of a virtual driver in the cockpit of the virtual driving vehicle model;
the action recognition module 324 is used for recognizing the attitude signal of the driver by using the data glove and the three-dimensional attitude sensor;
the dynamic mapping module 325 is configured to perform interactive dynamic mapping on the arm of the real driver and the arm in the three-dimensional image of the virtual driver by using a dynamic mapping method;
the virtual driver simulation module 34 transforms the attitude of the virtual driver in real time according to the interactive dynamic mapping state.
The embodiment of the invention can also generate a virtual driver simulation model which is dynamically changed along with the real action of the driver, so that the real driving feeling is improved.
In one embodiment, the simulated driving subsystem 3 further comprises: an assessment module 35; the assessment module 35 is configured to generate a training result according to a driving state of the virtual driving vehicle model in the virtual traffic scene; the practical training result comprises the practical training score, the driving bad habit and the driving guide suggestion.
In another embodiment, the simulated driving subsystem 3 further comprises a growth data analysis and comparison unit 36; the growth data analysis and comparison unit 36 is used for drawing a line graph according to the training results of multiple times. The line graph may be displayed on the human-computer interaction interface.
In the aspect of driving training, the embodiment of the invention can give a training score according to the driving state of a student, indicate driving holes, give guidance suggestions, correct driving habits and avoid becoming a road killer in the future. And a line graph can be generated according to each training result of the student, so that the student can be clear of the training result of the student.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An interactive virtual simulation system, comprising: the system comprises a traffic simulation subsystem, an automatic driving simulation subsystem, a simulated driving subsystem and a fusion subsystem;
the traffic simulation subsystem is used for constructing a virtual traffic scene according to the state data of various real traffic elements in the target traffic network;
the automatic driving simulation subsystem is used for generating a test vehicle model and determining an automatic driving instruction of the test vehicle model according to the virtual traffic scene and an automatic driving algorithm;
the simulated driving subsystem is used for generating a virtual driving vehicle model and generating a driving instruction of the virtual driving vehicle model according to the real action of a driver;
the fusion subsystem is used for controlling the test vehicle model to drive in the virtual traffic scene according to the automatic driving instruction and updating the virtual traffic scene in real time; or controlling the virtual driving vehicle model to drive in the virtual traffic scene according to the driving instruction, and updating the virtual traffic scene in real time.
2. The interactive virtual simulation system of claim 1, wherein the traffic simulation subsystem comprises a status acquisition module, a traffic flow simulation module, a road environment simulation module, a meteorological environment simulation module and a scene fusion module;
the state acquisition module is used for acquiring traffic flow data and GIS map data of various real traffic elements in a target traffic network;
the traffic flow simulation module is used for simulating various small cars, trucks, buses, non-motor vehicles and pedestrians according to the traffic flow data to generate a mixed traffic flow scene;
the road environment simulation module is used for creating three-dimensional models of roads, road along facilities and obstacles according to the GIS map data and generating a road environment scene;
the weather simulation module is used for simulating the current weather environment to generate a weather environment scene;
the scene fusion module is used for fusing the mixed traffic flow scene, the road environment scene and the meteorological environment scene to generate the virtual traffic scene.
3. The interactive virtual simulation system of claim 2, wherein the road infrastructure includes at least road isolation infrastructure, signal lights, electrical poles, vegetation, municipal infrastructure, and pavement structures.
4. The interactive virtual simulation system of claim 1, wherein the autopilot simulation subsystem comprises: the system comprises a test vehicle simulation module, a simulation sensor module and a first control module;
the test vehicle simulation module is used for generating the test vehicle model; the test vehicle model includes a body dynamics model, an engine thermodynamics model, an engine model, a tire model, a powertrain model, a braking system model, a cooling system model, and an electrical system model;
the simulation sensor module is used for establishing a sensor model; the sensor model is used for detecting a sensing signal generated by the test vehicle model in the driving process under the virtual traffic scene;
the first control module is used for generating an automatic driving instruction according to the sensing signal and the power performance of the test vehicle model;
and the fusion subsystem is used for controlling the running state of the test vehicle model under the virtual traffic scene according to the automatic driving instruction.
5. The interactive virtual simulation system of claim 4, wherein the sensor model comprises one or more of a camera model, a lidar model, a millimeter-wave lidar model, and a positioning navigation model.
6. The interactive virtual simulation system of claim 1, wherein the simulated driving subsystem comprises: the system comprises a virtual driving vehicle simulation module, a human-vehicle interaction module and a second control module;
the virtual driving vehicle simulation module is used for generating the virtual driving vehicle model;
the human-vehicle interaction module is used for acquiring a real action signal of a driver and converting the action signal into a power signal of the virtual driving vehicle model;
the second control module is used for generating a driving instruction according to the power signal;
and the fusion subsystem controls the running state of the virtual driving vehicle model under the virtual traffic scene according to the driving instruction.
7. The interactive virtual simulation system of claim 6, wherein the human-vehicle interaction module comprises a vehicle driving simulator, a conversion module and a human-vehicle interaction interface;
the vehicle driving simulator is used for generating the action signal according to the actual action of the driver;
the conversion module is used for converting the action signal into a power signal of the virtual driving vehicle model;
the human-vehicle interaction interface is used for dynamically displaying the virtual traffic scene and the three-dimensional image of the virtual driving vehicle model in real time.
8. The interactive virtual simulation system of claim 7, wherein the simulated driving subsystem further comprises a virtual driver simulation module;
the human-vehicle interaction module also comprises an action recognition module and a dynamic mapping module;
the virtual driver simulation module is used for generating a three-dimensional image of a virtual driver in a cockpit of the virtual driving vehicle model;
the action recognition module is used for recognizing the attitude signal of the driver by using the data glove and the three-dimensional attitude sensor;
the dynamic mapping module is used for carrying out interactive dynamic mapping on the arm of the real driver and the arm in the three-dimensional image of the virtual driver by a dynamic mapping method;
the virtual driver simulation module also transforms the posture of the virtual driver in real time according to the interactive dynamic mapping state.
9. The interactive virtual simulation system of claim 6, wherein the simulated driving subsystem further comprises: an assessment module; the assessment module is used for generating a practical training result according to the running state of the virtual driving vehicle model in the virtual traffic scene; the practical training achievement comprises the practical training score, the driving bad habit and the driving guide suggestion.
10. The interactive virtual simulation system of claim 9, wherein the simulated driving subsystem further comprises a growth data analysis and comparison unit; and the growth data analysis and comparison unit is used for drawing a line graph according to multiple training results.
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Cited By (11)
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| CN113625594A (en) * | 2021-07-30 | 2021-11-09 | 中汽创智科技有限公司 | Automatic driving simulation method and system |
| CN113642177A (en) * | 2021-08-16 | 2021-11-12 | 清华大学 | Digital twin virtual-real multi-vehicle mixed-driving simulation method and device |
| CN114035545A (en) * | 2021-11-08 | 2022-02-11 | 苏州挚途科技有限公司 | Automatic driving algorithm simulation test method and device and electronic equipment |
| CN114063466A (en) * | 2021-09-30 | 2022-02-18 | 威凯检测技术有限公司 | Auxiliary driving system detection method based on virtual simulation scene |
| CN114063475A (en) * | 2021-12-17 | 2022-02-18 | 无锡来达科技有限公司 | Automatic driving simulation test system based on data synchronization |
| CN114326667A (en) * | 2021-12-23 | 2022-04-12 | 清华大学 | Unmanned test method for fusion of on-line traffic flow simulation and real road environment |
| CN114399612A (en) * | 2021-11-29 | 2022-04-26 | 武汉未来幻影科技有限公司 | Weather simulation method for driving test simulation scene |
| CN114896817A (en) * | 2022-06-13 | 2022-08-12 | 中国第一汽车股份有限公司 | Vehicle in-loop fusion test system and method |
| CN115116297A (en) * | 2022-06-14 | 2022-09-27 | 合肥工业大学 | Method suitable for taking over training of man-machine co-driving vehicle drivers |
| CN115187742A (en) * | 2022-09-07 | 2022-10-14 | 西安深信科创信息技术有限公司 | Method, system and related device for generating automatic driving simulation test scene |
| CN115309320A (en) * | 2022-08-04 | 2022-11-08 | 吉林大学 | Man-machine interaction system of automobile driving simulator |
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