CN113484851B - Simulation test system and method for vehicle-mounted laser radar and complete vehicle in-loop test system - Google Patents
Simulation test system and method for vehicle-mounted laser radar and complete vehicle in-loop test system Download PDFInfo
- Publication number
- CN113484851B CN113484851B CN202111045697.0A CN202111045697A CN113484851B CN 113484851 B CN113484851 B CN 113484851B CN 202111045697 A CN202111045697 A CN 202111045697A CN 113484851 B CN113484851 B CN 113484851B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- simulation
- laser radar
- echo
- model
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A simulation test system of a vehicle-mounted laser radar is used for testing the vehicle-mounted laser radar of a vehicle to be tested and comprises a scene simulation platform, a shaft coupling type dynamometer, a simulation echo transmitting device, a radar monitoring result obtaining device, a simulation test model filling device, a model comparing device and a test result output device. The method comprises the steps that firstly, an echo radar simulation signal is sent by a simulation echo emission device according to road working conditions simulated by a scene simulation platform and the motion state of a vehicle to be tested, which is obtained by an axis coupling type dynamometer, then a filling result model is obtained by a simulation test model filling device according to monitoring result point cloud data output by a vehicle-mounted laser radar, and finally, vehicle-mounted laser radar detection result information is obtained according to the consistency of the filling result model and the simulation test model. Because the vehicle-mounted laser radar is monitored by the echo radar simulation signal transmitted by the simulation echo transmitting device, the detection result of the vehicle-mounted laser radar by the vehicle-mounted in-loop test system is more comprehensive and accurate.
Description
Technical Field
The invention relates to the technical field of intelligent networked automobiles, in particular to a simulation test system and method of a vehicle-mounted laser radar and an on-loop test system of a whole automobile.
Background
With the rapid development of the intelligent networked automobile technology, more and more intelligent automobiles play an important role in the aspects of traffic safety guarantee, traffic jam solving, travel efficiency improvement, energy conservation and environmental protection. When the ADAS function and the AD function of the intelligent networked automobile are developed, in order to guarantee the safety and the reliability of the intelligent networked automobile, strict and systematic tests and checks must be carried out on related function development. In recent years, the establishment of an automatic driving system test evaluation system is rapidly developed. Currently, the mainstream automatic driving automobile test and inspection method in the industry includes simulation test and real automobile test. The simulation test method has the characteristics of low cost, high test efficiency, rich test scenes and the like; the investment cost of a real vehicle test site is high, the test safety is low, the test period is long, and all traffic scenes cannot be exhausted. The traditional automobile research and development and performance test method is difficult to meet the test requirement of the automatic driving automobile, and the simulation test is not only beneficial to perfecting the automobile certification standard and quality supervision test method in China, but also beneficial to participating in the formulation of international regulation standardization in China, and provides a standardized data exchange format for a test scene library and a simulation test method. On the other hand, with the continuous evolution of automobile technology, automobiles have evolved from hardware based on mechatronics to software based on data, and the original electronic systems of automobiles are upgraded to physical information systems. Therefore, by taking engineering practice in the field of aviation as a reference, a simulation method is introduced in automobile development and testing to test the safety of the automatic driving vehicle, and a series of standard methods and specifications are gradually formed, so that the simulation test and the real physical test form an organic whole which is mutually combined, and the reliability, the stability and the safety of the automatic driving system are guaranteed in multiple dimensions.
The existing software-in-loop, hardware-in-loop and finished automobile-in-loop systems are all related technologies of automatic driving system simulation tests, wherein the finished automobile-in-loop is a finished automobile-level simulation test method, and plays an extremely important role in the future finished automobile-level function development and finished automobile-level function test. The whole vehicle in-loop simulation test system provides rich test environment when the vehicle normally runs, dangerous scenes and complex scenes which are difficult to reproduce for repeatability test, and the vehicle dynamics characteristics of real vehicles are used, so that a complex vehicle dynamics model is not needed, the authenticity of the vehicle dynamics model is ensured, the reliability of a test result is greatly ensured, the test avoids complex dynamics model design, and the whole vehicle in-loop test system can be concentrated on the design and arrangement of a scene perception simulation system.
The perception sensor is an extremely important part of the automatic driving system as an environmental information acquisition means of the automatic driving system. The mainstream sensors currently used for intelligent automobile sensing include a vision sensor, a millimeter wave radar sensor, a laser radar sensor, an ultrasonic radar sensor, and the like. The laser radar sensor is also called a vehicle-mounted three-dimensional laser scanner, and is a mobile three-dimensional laser scanning system. The working principle is that relevant information of the measured physics, such as parameters of target distance, azimuth, height, attitude, shape and the like, is calculated and described by continuously transmitting detection signals (laser beams) to surrounding targets and receiving returned signals (target echoes), so as to achieve the aim of dynamic 3D scanning. In the whole vehicle in-loop test system in the prior art, conventional safety tests such as reliability, durability, temperature resistance and the like for detecting vehicle specifications are more, and the test on the performance of the vehicle-mounted laser radar is simpler. Therefore, how to realize the simulation test of the vehicle-mounted laser radar is a technical problem to be solved urgently in a ring test system of the whole vehicle.
Disclosure of Invention
The invention mainly solves the technical problem of how to realize real laser radar area perception simulation on laser radar simulation test in a finished automobile in-loop test system.
According to a first aspect, the present invention provides a simulation test system for a vehicle-mounted laser radar, comprising:
the scene simulation platform is used for simulating and testing the road working condition of the vehicle to be tested; the simulated road working condition comprises a simulation test model for testing the vehicle-mounted laser radar;
the shaft coupling type dynamometer is used for acquiring the motion state parameters of the vehicle to be measured;
the simulation echo transmitting device is used for transmitting an echo radar simulation signal to a vehicle-mounted laser radar of the vehicle to be tested according to the simulated road working condition and the motion state of the vehicle to be tested;
the radar monitoring result acquisition device is used for acquiring monitoring result point cloud data output by a vehicle-mounted laser radar of the vehicle to be detected;
the simulation test model filling device is used for virtually filling the simulation test model according to the monitoring result point cloud data to obtain a filling result model;
the model comparison device is used for comparing the consistency of the filling result model and the simulation test model to obtain consistency comparison result data;
and the test result output device is used for outputting the detection result information of the vehicle-mounted laser radar according to the consistency comparison result data.
According to a second aspect, the invention provides a whole vehicle in-loop test system, which comprises the simulation test system of the first aspect; the simulation test system is also used for testing a visual sensor, a millimeter wave radar and an ultrasonic radar of the vehicle to be tested;
the simulation test system further comprises a visual sensor detection device, a millimeter wave radar detection device and an ultrasonic radar monitoring device.
According to a third aspect, the present invention provides a simulation test method for a vehicle-mounted laser radar, including:
simulating and testing the road condition of the vehicle to be tested; the simulated road working condition comprises a simulation test model for testing the vehicle-mounted laser radar;
acquiring a motion state parameter of the vehicle to be detected;
sending an echo radar simulation signal to a vehicle-mounted laser radar of the vehicle to be tested according to the simulated road working condition and the motion state of the vehicle to be tested;
acquiring monitoring result point cloud data output by a vehicle-mounted laser radar of the vehicle to be detected;
performing virtual filling on the simulation test model according to the monitoring result point cloud data to obtain a filling result model;
comparing the consistency of the filling result model and the simulation test model to obtain consistency comparison result data;
and outputting vehicle-mounted laser radar detection result information according to the consistency comparison result data.
According to a fourth aspect, the invention provides a computer readable storage medium comprising a program executable by a processor to implement the simulation test method of the third aspect.
The simulation test method for the vehicle-mounted laser radar provided by the embodiment comprises the following steps: firstly, simulating and testing the road working condition of a vehicle to be tested, and acquiring the motion state parameters of the vehicle to be tested; the simulated road working condition comprises a simulation test model for testing the vehicle-mounted laser radar; then sending an echo radar simulation signal to a vehicle-mounted laser radar of the vehicle to be tested according to the simulated road working condition and the motion state of the vehicle to be tested; acquiring monitoring result point cloud data output by a vehicle-mounted laser radar of a vehicle to be detected, and acquiring a filling result model according to the monitoring result point cloud data; and finally, outputting the detection result information of the vehicle-mounted laser radar according to the consistency of the comparison filling result model and the simulation test model. Because the vehicle-mounted laser radar is detected through the echo radar simulation signal, the detection result of the vehicle-mounted laser radar is more comprehensive and accurate.
Drawings
FIG. 1 is a schematic diagram of a vehicle lidar detection system;
FIG. 2 is a schematic diagram of an embodiment of a simulation test system;
FIG. 3 is a schematic structural diagram of an exemplary simulated echo transmitting device;
FIG. 4 is a schematic perspective view of an exemplary embodiment of an artificial echo antenna;
FIG. 5 is a top view of an embodiment of a simulated echo antenna;
FIG. 6 is a side view of an embodiment of a simulated echo antenna;
FIG. 7 is a schematic structural diagram of a vehicle-in-vehicle testing system in an embodiment;
FIG. 8 is a block flow diagram of an embodiment of a complete vehicle in-loop test system;
FIG. 9 is a schematic flow chart illustrating a simulation test method for a vehicle-mounted lidar in another embodiment;
FIG. 10 is a diagram illustrating simulation of an actual physical signal in another embodiment;
fig. 11 is a schematic diagram of simulation of a simulated echo transmitting device in an embodiment.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).
In the existing whole-vehicle in-loop simulation test of the multi-sensor intelligent automobile, the existing vehicle-mounted laser radar test scheme is to perform injection simulation of laser point cloud or not perform related simulation test of the laser radar. However, under the big background that the laser radar is bound to become the mainstream perception sensor of the intelligent automobile, the addition of the laser radar provides new requirements for the simulation test of the sensor, and the simulation test of the perception of the laser radar with better matching and more real is necessary for the whole automobile in-loop test system.
Referring to fig. 1, a schematic diagram of vehicle-mounted lidar detection is shown, which is performed by point cloud injection, where the point cloud is a 3D point cloud image presented in a space after the lidar senses and detects an object (real target signal simulation), i.e., a data file formed after radar detection, and the data file is injected into the vehicle-mounted lidar for a series of software tests. The software test is not the real point cloud after the simulated laser radar senses the real object, namely the whole vehicle lacks the most important link in the ring simulation test.
At present, the whole vehicle in-loop test system containing vehicle-mounted laser radar simulation test has the main technical defects that:
1. the current laser radar test of the whole vehicle in a ring test system limits the point cloud injection test and simulation of the laser radar;
2. the whole vehicle-in-loop system of the current laser radar real physical signal simulation test is absent, the simulation and test method and system for the laser radar sensor are single, even unfirm, and a scheme for testing the real sensing capability of the laser radar is not provided;
3. designing a relevant scene library for a sensor simulation test, which does not meet the requirements of sensor fusion simulation;
4. the current whole vehicle in-loop test system has no fusion algorithm evaluation method and system.
Therefore, how to let the real lidar region sense the simulated object and regenerate the point cloud to complete the most complete vehicle-mounted lidar detection is the technical problem to be solved in the application.
In an embodiment of the present application, a simulation test method for a vehicle-mounted laser radar is disclosed, which includes:
firstly, simulating and testing the road working condition of a vehicle to be tested, and acquiring the motion state parameters of the vehicle to be tested; the simulated road working condition comprises a simulation test model for testing the vehicle-mounted laser radar; then sending an echo radar simulation signal to a vehicle-mounted laser radar of the vehicle to be tested according to the simulated road working condition and the motion state of the vehicle to be tested; acquiring monitoring result point cloud data output by a vehicle-mounted laser radar of a vehicle to be detected, and acquiring a filling result model according to the monitoring result point cloud data; and finally, outputting the detection result information of the vehicle-mounted laser radar according to the consistency of the comparison filling result model and the simulation test model. Because the vehicle-mounted laser radar is detected through the echo radar simulation signal, the detection result of the vehicle-mounted laser radar is more comprehensive and accurate.
The technical solution of the present application will be specifically described with reference to the following examples.
The first embodiment is as follows:
referring to fig. 2, a schematic structural diagram of a simulation test system in an embodiment is shown, where the simulation test system is used for testing a vehicle-mounted laser radar 81 of a vehicle 8 to be tested, and includes a scene simulation platform 1, an axis-coupled dynamometer 2, a simulation echo transmitting device 3, a radar monitoring result obtaining device 4, a simulation test model filling device 5, a model comparing device 6, and a test result outputting device 7. The scene simulation platform 1 is used for simulation testing of road conditions of the vehicle 8 to be tested, wherein the simulated road conditions comprise a simulation test model for testing the vehicle-mounted laser radar 81. The axle coupling type dynamometer 2 is used for acquiring motion state parameters of the vehicle 8 to be tested. The simulation echo transmitting device 3 is used for transmitting an echo radar simulation signal to the vehicle-mounted laser radar 81 of the vehicle 8 to be tested according to the simulated road working condition and the motion state of the vehicle 8 to be tested. The radar monitoring result acquisition device 4 is used for acquiring monitoring result point cloud data output by the vehicle-mounted laser radar 81 of the vehicle 8 to be detected. The simulation test model filling device 5 is used for virtually filling the simulation test model according to the monitoring result point cloud data to obtain a filling result model. The model comparison device 6 is used for comparing the consistency of the filling result model and the simulation test model to obtain consistency comparison result data. And the test result output device 7 is used for outputting the detection result information of the vehicle-mounted laser radar according to the consistency comparison result data.
Referring to fig. 3, a schematic structural diagram of an exemplary simulated echo transmitting device includes a simulator host 31, a simulated laser radar 32, and a simulated echo antenna 33. The simulator host 31 is configured to obtain parameters of a pre-simulated simulation test model from a road condition, obtain laser radar parameters according to the parameters of the simulation test model and the motion state parameters of the vehicle to be tested, and send the laser radar parameters to the simulated laser radar. Wherein, the parameters of the simulation test model comprise the shape, the moving speed and/or the moving track of the simulation test model. The simulation laser radar 32 sends an echo radar simulation signal to the vehicle-mounted laser radar of the vehicle to be tested through the simulation echo antenna 33 according to the laser radar parameters.
Referring to fig. 4, fig. 5 and fig. 6, which are a schematic diagram of a three-dimensional structure of the simulated echo antenna, a top view of the simulated echo antenna and a side view of the simulated echo antenna in an embodiment, respectively, the simulated echo antenna 3 includes at least two sets of echo front-end antennas 31 arranged in parallel. Each group of echo front-end antennas 31 comprises at least two echo antenna units 311 arranged at equal intervals, and the distance between each echo antenna unit 311 in the same group of echo front-end antennas 31 and the vehicle-mounted laser radar 81 is the same. In one embodiment, each set of echo front-end antenna 31 includes the number of echo antenna units 311, which is the product of the distance between the set of echo front-end antenna 31 and the vehicle-mounted lidar 81 and the angular resolution of the vehicle-mounted lidar 81.
In the embodiment of the application, the simulation test system of the vehicle-mounted laser radar is used for testing the vehicle-mounted laser radar of a vehicle to be tested and comprises a scene simulation platform, a shaft coupling type dynamometer, a simulation echo transmitting device, a radar monitoring result obtaining device, a simulation test model filling device, a model comparing device and a test result output device. The method comprises the steps that firstly, an echo radar simulation signal is sent by a simulation echo emission device according to road working conditions simulated by a scene simulation platform and the motion state of a vehicle to be tested, which is obtained by an axis coupling type dynamometer, then a filling result model is obtained by a simulation test model filling device according to monitoring result point cloud data output by a vehicle-mounted laser radar, and finally, vehicle-mounted laser radar detection result information is obtained according to the consistency of the filling result model and the simulation test model. Because the vehicle-mounted laser radar is monitored by the echo radar simulation signal transmitted by the simulation echo transmitting device, the detection result of the vehicle-mounted laser radar by the vehicle-mounted in-loop test system is more comprehensive and accurate.
Please refer to fig. 7, which is a schematic structural diagram of a complete vehicle in-loop test system in an embodiment, and in the embodiment of the present application, a complete vehicle in-loop test system is further disclosed, which includes the simulation test system in the embodiment, and the simulation test system is further used for testing a vision sensor, a millimeter wave radar and an ultrasonic radar of a vehicle to be tested. The simulation test system further comprises a visual sensor detection device, a millimeter wave radar detection device and an ultrasonic radar monitoring device. In an embodiment, the whole vehicle in-loop test system further includes a test control platform 9, which is used for fitting the motion state of the vehicle to be tested and the road condition of the scene simulation platform simulation 1. In an embodiment, the scene simulation platform 1 further includes a scene simulation ring screen 11, and the scene simulation ring screen 11 is used for displaying road conditions.
Referring to fig. 8, a flow diagram of a whole vehicle in-loop test system in an embodiment is shown, where the whole vehicle in-loop system is a test platform for a whole vehicle level, that is, a system for running a real vehicle in a virtual environment to perform a dynamic test related to related intelligent driving performance, and is a comprehensive requirement solution for development, verification, test evaluation, and detection and authentication of an automatic driving system. The main working process of the simulation test disclosed by the application is to place the whole vehicle on an axle coupling dynamometer (not limited to the axle coupling dynamometer, including a wheel coupling hub type dynamometer), so that the vehicle runs on a set rack, a road model in a virtual simulation scene can be accessed, vehicle running environments with different road resistances and gradients can be realized, and longitudinal acceleration and deceleration, transverse turning and movement with different gradients and pitch angles can be realized during the running of the vehicle. The method comprises the steps of building a simulation virtual environment of a vehicle to be tested, accessing scene signals (different levels including original signals, target list signals and the like) in a virtual scene into a perception sensor of a real test vehicle through a certain hardware interface, obtaining decision control signals of automatic driving by the vehicle perception sensor according to received signals and transmitting the decision control signals to each control unit ECU of the vehicle when the vehicle is started and an automatic driving mode is started, and achieving automatic driving control of the vehicle.
Example two:
please refer to fig. 9, which is a schematic flow chart of a simulation testing method for a vehicle-mounted lidar in another embodiment, the simulation testing method is used for performing a simulation test on the vehicle-mounted lidar based on an in-loop testing system of a whole vehicle, and the in-loop testing system of the whole vehicle includes a shaft-coupled dynamometer, a scene simulation platform, a sensor fusion simulation testing system, a test control platform, and a test result output device. The axle coupling type dynamometer connects four wheels of a test vehicle through axle coupling, and has independent torque control to meet diversified test requirements. The vehicle to be tested can meet the dynamic test requirement after being connected with the dynamometer, the dynamometer has a steering function, the steering simulation test of the vehicle to be tested is achieved, a road model in a simulation scene can be accessed, and the motion state requirement of the simulation test of the vehicle to be tested is met. In one embodiment, the shaft coupling type dynamometer is not limited to the shaft coupling dynamometer, but includes a wheel coupling hub type dynamometer. The scene simulation platform comprises a scene simulation ring screen with a visual simulation environment, and simulation software and vehicle dynamics simulation software which provide simulation scenes. The sensor fusion simulation test system comprises a perception sensor combined simulation test system including a visual sensor, a millimeter wave radar, a vehicle-mounted laser radar, an ultrasonic radar and the like. The test control platform comprises various software and hardware communication interface board cards, system management software and other related equipment and software for assisting in completing the test. And the test result output device is used for constructing a test result evaluation system.
The simulation test method is used for carrying out simulation test on the vehicle-mounted laser radar, and comprises the following steps:
step 100, simulating road conditions.
And (5) simulating and testing the road condition of the vehicle to be tested. The simulated road working condition comprises a simulation test model for testing the vehicle-mounted laser radar. The construction of road working conditions is to simulate various complex conditions in a real road network according to a traffic network simulated by actual geographic conditions. Meanwhile, the access of a vehicle dynamic model can be supported, the mutual communication of signals and data of a real test vehicle model is formed, and the data is transmitted in real time; the simulation of the laser radar sensor is supported, the laser radar ideal sensor model is supported, and the simulation capability of a physical-level or real-time complex laser radar sensor model is realized. In one embodiment, the simulated road conditions have the following capabilities: the method supports algorithm verification and global and local path planning of the laser radar sensor, and has the application capability of lane-level data; supporting environment simulation under various weather conditions and light conditions, and setting a test scene for judging the fusion influence of weather on the sensor; the system has the traffic condition simulation capability, and traffic participants cover cars, SUVs, trucks, bicycles, pedestrians, animals and the like and have the time/event triggering capability; the road data format adopts universal, mature and internationally recognized industrial standards, so that the real-time evaluation is facilitated when the vehicle model operation data and the visual data are interacted; the traffic environment model can conveniently and quickly realize the configuration of test scenes, including moving and static objects. Such as transportation vehicles, pedestrians, stationary vehicles, traffic signs, construction signs, buildings, etc.; and setting an interference source in the laser radar sensor test.
And 200, acquiring motion state parameters.
And acquiring the motion state parameters of the vehicle to be detected. The key point of the on-loop test system disclosed by the application is that the simulation scene is dynamically coupled with the test vehicle in real time, the test vehicle moves in the simulation scene, and the vehicle and the simulation scene can be dynamically interacted in real time. Specifically, model parameters of a vehicle to be tested are accessed into a simulation system to realize zero-time-delay dynamic interaction, and the method comprises the following steps: the vehicle body model parameters, the tire model parameters, the braking system model parameters, the steering system model parameters, the power system model parameters, the aerodynamic model parameters, the hardware IO interface model parameters, and the appropriate parameters are configured according to the dynamics of the actual test vehicle. By using the complex vehicle parameters, the simulation precision of the vehicle is ensured to be higher, so that the controlled object is closer to a real object. Meanwhile, the system can also be used for developing steering, braking and drive-by-wire systems on the development of a chassis drive-by-wire, and the system also needs a controlled object model. After the controlled object models exist, a real brake-by-wire system, a steer-by-wire system and an automatic driving system of the vehicle can be integrated into a simulation system to carry out simulation test together, and interaction between the vehicle to be tested and the simulation system is realized.
And step 300, sending an echo radar simulation signal.
And sending an echo radar simulation signal to the vehicle-mounted laser radar of the vehicle to be tested according to the simulated road working condition and the motion state of the vehicle to be tested. In one embodiment, parameters of a pre-simulated simulation test model are obtained from road conditions. And acquiring laser radar parameters according to the parameters of the simulation test model and the motion state parameters of the vehicle to be tested, and sending the laser radar parameters to the simulation laser radar. The parameters of the simulation test model include the shape, the moving speed and/or the moving track of the simulation test model. In one embodiment, the simulated laser radar sends an echo radar simulation signal to a vehicle-mounted laser radar of the vehicle to be detected through a simulated echo antenna according to laser radar parameters. The simulation echo antenna comprises at least two groups of echo front-end antennas which are arranged in parallel, each group of echo front-end antennas comprises at least two echo antenna units which are arranged at equal intervals, and the distance between each echo antenna unit in the same group of echo front-end antennas and the vehicle-mounted laser radar are the same. In one embodiment, each set of echo front-end antennas includes the number of echo antenna units, which is the product of the distance between the set of echo front-end antennas and the vehicle-mounted lidar and the angular resolution of the vehicle-mounted lidar.
In addition, each object in the simulation scene needs to be synchronized to a sensor of the vehicle in real time, namely, the ideal laser radar simulation and the physical-level complex laser radar simulation under the real-time dynamic condition are maintained. For a laser radar sensor simulation system, simulation can be generally divided into three levels according to different simulation signal depths, wherein the first level is to simulate a physical signal, the second level is to simulate an originally sensed signal, namely point cloud injection simulation, and the third level is to simulate a sensor target, namely to simulate a signal of related information of a target object calculated by a sensor algorithm. Wherein, physical signal simulation is to directly simulate the signal received by the sensor. The physical signal simulation means simulating the reflection signals of a real object in the detection range of the sensor, adjusting the reflection signals according to the relation of the distance, the size, the speed and the like of the object in the simulation scene, and the laser radar performs related sensing work when receiving the reflection signals and generates related sensed point cloud data. The original signal emulation is to remove the unit detected by the sensor, because the control electric control embedded system is provided with a special digital processing chip, the input unit of the digital processing chip can be directly emulated. The simulation of the sensor target is to directly input a target list to a whole vehicle-level control system, and when the sensing and decision of the sensor are divided into two chips with different levels, an ideal target detected by the sensor can be directly simulated to an algorithm input end of a decision layer. Such target level input signals are typically CAN bus input signals or other communication protocol format input signals. For example, the differential GPS and IMU may be emulated via serial communications. Generally, it is easier to provide true values by software simulation, and the simulation of original signals, especially physical signals, is relatively complicated because of the large number of simulation devices required.
Referring to fig. 10, a schematic diagram of simulation of real physical signals in another embodiment is shown, where the simulation of real physical signals is to perform echo simulation similar to video bellows and millimeter wave radar, and both are test methods for performing simulation based on a process of sensing an object and a scene by a sensor. And the simulator receives the transmitted signal of the radar, modulates according to the set target characteristic and generates a radar echo. And the simulation function of the universal targets such as a static target, a dynamic target, multiple targets, a track motion target and the like is realized. In one embodiment, the real signal simulation equipment is placed in front of the vehicle, considering that the optimal scheme in the test of the whole vehicle in the ring is to keep the sensor undetachable, namely, the laser radar is not detached from the vehicle. In an embodiment, as shown in fig. 3, an echo front-end antenna is arranged on a cylindrical surface, the circle center of the bottom circle of the cylindrical surface is a vehicle-mounted laser radar sensor of the entire vehicle, echo simulation devices with the same number of lines as the number of scanning lines of the laser radar are arranged, and the number of antenna layers for arranging echo simulation is the same as the number of scanning lines. In one embodiment, the simulated echo antenna comprises 8 sets of echo front-end antennas, and so on for other lines. In each group of the echo front-end antennas, the number of the echo antenna units is equal to the product of the horizontal scanning angle resolution of the vehicle-mounted laser radar multiplied by the distance to the echo antenna, for example, the horizontal scanning resolution of the vehicle-mounted laser radar is 0.1 degree, the distance between the group of the echo front-end antennas and the vehicle-mounted laser radar is 1m, and then one echo antenna unit is arranged at intervals of about 1.74cm (3.14 × 1 ×/[ 2 ]/[ 360 × 10 ]).
In one embodiment, the simulated echo transmitting device comprises a set of simulator host, a simulated laser radar and a plurality of sets of echo front-end antennas. Referring to fig. 11, a schematic diagram of a simulation of the simulated echo transmitting device in an embodiment is shown, where the simulated echo transmitting device is a simulation dark box, each group of echo front-end antennas can generate a plurality of targets, and the target angle change of a real object is simulated by the echo front-end antennas of different layers. The simulation echo transmitting device receives a transmitting signal transmitted by a laser radar through a receiving echo front-end antenna by receiving object position change and other condition changes of simulation scene software, the echo front-end antenna transmits the signal to a frequency conversion processing module, and through a series of conversion, for a radar developed based on a tof (time of flight method), the echo simulation of speed is mainly carried out by increasing the flight time (completed through a delay module) and the Doppler effect (completed through the frequency conversion processing module) of the signal, so that after information such as the speed, the distance and the like of a related target object is given in a simulation scene, the echo signal processing of related contents of the flight time and the speed is completed according to a related algorithm; for a radar based on continuous frequency modulation, delay and other processing of a relevant signal are performed to simulate information such as a speed distance of a target object in scene simulation.
The simulation of different angles of the object is mainly performed by activating echo antenna units at different angles, so that the response is quick, and the simulation of the target object is accurate. The simulation of the echo intensity of the relevant target object is to simulate the echo intensity of the object according to the laser radar set in a scene, namely the echo intensity value is preset in a simulation scene.
Step 400, result point cloud data is obtained.
And acquiring monitoring result point cloud data output by the vehicle-mounted laser radar of the vehicle to be detected.
Step 500, a filling result model is obtained.
And virtually filling the simulation test model according to the monitoring result point cloud data to obtain a filling result model.
And the virtual filling of the result point cloud data output by the vehicle-mounted laser radar supports a sensor model based on Nvidia OptiX ray tracing, and the point cloud data with adjustable scale is output and visualized. Parameters of the vehicle-mounted laser radar, such as line number, FOV, resolution ratio and other information, are configured, light ray data within a 360-degree range are calculated by using a simulation platform, and the light ray data are packed and sent once according to the rotating frequency of a motor, such as 50ms, so that the point cloud enters a perception algorithm module in real time. Tracking and calculating information such as paths, reflections and the like of the rays by calling a calculation function in the CUDA; sending the obtained information data including distance, reflectivity, time and the like to a memory according to an RDB data format; the data structure of the known RDB and the position of the point cloud data in the RDB can be positioned by keys and extracted; for the extracted information, the encapsulation form of the data can be customized, and the output mode of the data can also be customized. In one embodiment, an external configuration interface to the lidar sensor model is also provided.
And step 600, acquiring consistency comparison result data.
And comparing the consistency of the filling result model and the simulation test model to obtain consistency comparison result data. The simulation test system disclosed by the application mainly depends on a test operation software tool developed by an embedded system, and has the function of completing the whole test process of standardization, evaluation, solution, filing and the like of test cases. The tool comprises a large number of automatic test methods, has control automation operation of all test environments, and supports wide test tool interfaces. The test cases are created in the test operation software tool through graphical programming, and the created test cases have wide parameterization and configuration options so that the test cases are suitable for all the test tools, and can be reused in different stages of the same test project. A clear interface is provided to extend and integrate existing testing and verification procedures, which by default support a large amount of testing software and hardware. The integration of other tools and test running software is easily completed through plug-ins and Python scripts, and the problem of software tools on different computers in a distributed test environment can be solved through a specific user-server architecture. Using one COM interface, other tools such as 'demand management', 'calibration control' and 'model-based testing' can be integrated. The test run software supports industry mainstream standards, mainstream software and hardware tools. The test operation software finishes the test requirement definition and implementation method in the aspects of functional logic test, scene analysis test, fault diagnosis test, misoperation abusive operation test and the like by editing the test script. Wherein the functional logic is to verify whether the algorithm model satisfies the functional development document definition; scene analysis, namely analyzing the parametric information by means of automatic test software; the fault diagnosis test is to send the information of the error format of the tested model or fault information and monitor the output of the model; and (4) performing misoperation testing, namely injecting two or more control instructions simultaneously according to a time sequence and a sequence of the algorithm development document, and monitoring the output of the algorithm model. After the test script is written, the test implementation is to automatically run the prepared test script in the simulation system, and in the test process, each test case is subjected to test analysis according to the functional specification requirement.
And 700, outputting the detection result information.
And outputting the detection result information of the vehicle-mounted laser radar according to the consistency comparison result data. In one embodiment, the detection result information includes an evaluation index. The evaluation index is selected according to basic principles such as pertinence, testability, objectivity, independence and the like, and in one embodiment of the application, the performance characterization of the vehicle-mounted laser radar has the following three aspects:
1. physical bottom signal layer parameters: which is used to directly define the properties and characteristics of the data fusion system and the elements of the component sensors, data processors, communication channels, etc. They directly describe the behavior or structure of the system and can be considered as some typical measurable indicator values like bandwidth, bit error rate, physical dimension, etc.
2. Target output layer-accuracy dimension: the method is used for describing the function exertion degree of the data fusion system, such as target omission ratio, target error identification ratio, target motion state, target tracking loss ratio and the like are typical efficiency measurement and identification precision.
3. The dimension of the whole vehicle control strategy is as follows: the method is the highest measurement in the four types of measurement, reflects the sensing result to the final result of the optimization of the control strategy of the whole vehicle, and quantifies the task completion capability of the sensor data fusion system. The method typically comprises failure rate of automatic driving function of the vehicle, control error of motion of the whole vehicle, high and low commuting energy consumption and the like.
The embodiment of the application discloses a simulation test method of a vehicle-mounted laser radar, which comprises the following steps: firstly, simulating and testing the road working condition of a vehicle to be tested, and acquiring the motion state parameters of the vehicle to be tested; the simulated road working condition comprises a simulation test model for testing the vehicle-mounted laser radar; then sending an echo radar simulation signal to a vehicle-mounted laser radar of the vehicle to be tested according to the simulated road working condition and the motion state of the vehicle to be tested; acquiring monitoring result point cloud data output by a vehicle-mounted laser radar of a vehicle to be detected, and acquiring a filling result model according to the monitoring result point cloud data; and finally, outputting the detection result information of the vehicle-mounted laser radar according to the consistency of the comparison filling result model and the simulation test model. Because the vehicle-mounted laser radar is detected through the echo radar simulation signal, the detection result of the vehicle-mounted laser radar is more comprehensive and accurate. The simulation test method disclosed in the embodiment of the application is characterized in that the perception sensor which is automatically driven on the whole vehicle level is used for carrying out corresponding simulation test evaluation, a sensor fusion test method and an evaluation system of the whole vehicle in the ring are established, the simulation test in the field of perception sensor fusion is filled, the meaning of the simulation test of the whole vehicle in the ring is enriched, corresponding tests can be completed in a test field on product development and verification, time and labor can be saved, the requirements of special test scenes such as multi-scene and extreme weather can be met, and related test scenes are greatly enriched. The evaluation system aiming at the sensor fusion can also quantize a plurality of factors to achieve the goal of quantization algorithm effect, and a multi-level evaluation method is carried out to establish a perfect evaluation system.
Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments may be implemented by hardware, or may be implemented by computer programs. When all or part of the functions of the above embodiments are implemented by a computer program, the program may be stored in a computer-readable storage medium, and the storage medium may include: a read only memory, a random access memory, a magnetic disk, an optical disk, a hard disk, etc., and the program is executed by a computer to realize the above functions. For example, the program may be stored in a memory of the device, and when the program in the memory is executed by the processor, all or part of the functions described above may be implemented. In addition, when all or part of the functions in the above embodiments are implemented by a computer program, the program may be stored in a storage medium such as a server, another computer, a magnetic disk, an optical disk, a flash disk, or a removable hard disk, and may be downloaded or copied to a memory of a local device, or may be version-updated in a system of the local device, and when the program in the memory is executed by a processor, all or part of the functions in the above embodiments may be implemented.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (10)
1. The utility model provides a simulation test system of on-vehicle lidar for the on-vehicle lidar of the vehicle that awaits measuring of test, its characterized in that includes:
the scene simulation platform is used for simulating and testing the road working condition of the vehicle to be tested; the simulated road working condition comprises a simulation test model for testing the vehicle-mounted laser radar;
the shaft coupling type dynamometer is used for acquiring the motion state parameters of the vehicle to be measured;
the simulation echo transmitting device is used for transmitting an echo radar simulation signal to a vehicle-mounted laser radar of the vehicle to be tested according to the simulated road working condition and the motion state of the vehicle to be tested;
the radar monitoring result acquisition device is used for acquiring monitoring result point cloud data output by a vehicle-mounted laser radar of the vehicle to be detected;
the simulation test model filling device is used for virtually filling the simulation test model according to the monitoring result point cloud data to obtain a filling result model;
the model comparison device is used for comparing the consistency of the filling result model and the simulation test model to obtain consistency comparison result data;
and the test result output device is used for outputting the detection result information of the vehicle-mounted laser radar according to the consistency comparison result data.
2. The simulation test system of claim 1, wherein the simulated echo transmitting device comprises a simulator host, a simulated lidar and a simulated echo antenna;
the simulator host is used for acquiring parameters of the pre-simulated simulation test model from the road working condition, acquiring laser radar parameters according to the parameters of the simulation test model and the motion state parameters of the vehicle to be tested, and sending the laser radar parameters to the simulation laser radar; the parameters of the simulation test model comprise the shape, the moving speed and/or the moving track of the simulation test model;
and the simulation laser radar sends the echo radar simulation signal to the vehicle-mounted laser radar of the vehicle to be tested through the simulation echo antenna according to the laser radar parameters.
3. The simulation test system of claim 2, wherein the simulated echo antennas comprise at least two sets of echo front antennas arranged in parallel;
each group of echo front-end antenna comprises at least two echo antenna units which are arranged at equal intervals, and the distance between each echo antenna unit in the same group of echo front-end antenna and the vehicle-mounted laser radar is the same.
4. The simulation test system of claim 3, wherein each set of the echo front end antennas includes a number of the echo antenna units that is a product of a distance of the echo front end antenna set from the vehicle-mounted lidar and an angular resolution of the vehicle-mounted lidar.
5. A complete vehicle in-loop test system, characterized by comprising a simulation test system according to any one of claims 1 to 4; the simulation test system is also used for testing a visual sensor, a millimeter wave radar and an ultrasonic radar of the vehicle to be tested;
the simulation test system further comprises a visual sensor detection device, a millimeter wave radar detection device and an ultrasonic radar monitoring device.
6. The vehicle-in-loop test system of claim 5, further comprising a test control platform for fitting the motion state of the vehicle to be tested and the road condition simulated by the scene simulation platform.
7. The vehicle-in-loop test system of claim 6, wherein the scene simulation platform comprises a scene simulation loop screen; and the scene simulation ring screen is used for displaying the road working condition.
8. A simulation test method of a vehicle-mounted laser radar is characterized by comprising the following steps:
simulating and testing the road condition of the vehicle to be tested; the simulated road working condition comprises a simulation test model for testing the vehicle-mounted laser radar;
acquiring a motion state parameter of the vehicle to be detected;
sending an echo radar simulation signal to a vehicle-mounted laser radar of the vehicle to be tested according to the simulated road working condition and the motion state of the vehicle to be tested;
acquiring monitoring result point cloud data output by a vehicle-mounted laser radar of the vehicle to be detected;
performing virtual filling on the simulation test model according to the monitoring result point cloud data to obtain a filling result model;
comparing the consistency of the filling result model and the simulation test model to obtain consistency comparison result data;
and outputting vehicle-mounted laser radar detection result information according to the consistency comparison result data.
9. The simulation test method of claim 8, wherein the sending of the echo radar simulation signal to the vehicle-mounted lidar of the vehicle under test according to the simulated road condition and the motion state of the vehicle under test comprises:
acquiring parameters of the pre-simulated simulation test model from the road working condition;
acquiring laser radar parameters according to the parameters of the simulation test model and the motion state parameters of the vehicle to be tested, and sending the laser radar parameters to a simulation laser radar; the parameters of the simulation test model comprise the shape, the moving speed and/or the moving track of the simulation test model;
the simulation laser radar sends the echo radar simulation signal to the vehicle-mounted laser radar of the vehicle to be tested through a simulation echo antenna according to the laser radar parameters;
the simulation echo antenna comprises at least two groups of echo front-end antennas which are arranged in parallel;
each group of echo front-end antennas comprises at least two echo antenna units which are arranged at equal intervals, and the distance between each echo antenna unit in the same group of echo front-end antennas and the vehicle-mounted laser radar is the same; the number of the echo antenna units included in each group of echo front-end antennas is the product of the distance between the echo front-end antennas and the vehicle-mounted laser radar and the angular resolution of the vehicle-mounted laser radar.
10. A computer-readable storage medium characterized by comprising a program executable by a processor to implement the simulation test method of any one of claims 8 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111045697.0A CN113484851B (en) | 2021-09-08 | 2021-09-08 | Simulation test system and method for vehicle-mounted laser radar and complete vehicle in-loop test system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111045697.0A CN113484851B (en) | 2021-09-08 | 2021-09-08 | Simulation test system and method for vehicle-mounted laser radar and complete vehicle in-loop test system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113484851A CN113484851A (en) | 2021-10-08 |
| CN113484851B true CN113484851B (en) | 2021-11-16 |
Family
ID=77947307
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111045697.0A Active CN113484851B (en) | 2021-09-08 | 2021-09-08 | Simulation test system and method for vehicle-mounted laser radar and complete vehicle in-loop test system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113484851B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114167752A (en) * | 2021-12-01 | 2022-03-11 | 中汽研（天津）汽车工程研究院有限公司 | Simulation test method and system device for vehicle active safety system |
| CN114280562A (en) * | 2021-12-22 | 2022-04-05 | 大陆投资(中国)有限公司 | Radar simulation test method and computer-readable storage medium for implementing the method |
| CN114625104A (en) * | 2022-02-25 | 2022-06-14 | 蚂蚁侠科技(深圳)有限公司 | Automatic driving decision planning simulation test method and system |
| CN116577762B (en) * | 2023-07-12 | 2023-10-31 | 西安深信科创信息技术有限公司 | Simulation radar data generation method, device, equipment and storage medium |
| CN116644522B (en) * | 2023-07-27 | 2023-09-22 | 中汽研（天津）汽车工程研究院有限公司 | Method, device and medium for determining automobile modeling parameters for pneumatic development |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107966693A (en) * | 2017-12-05 | 2018-04-27 | 成都合纵连横数字科技有限公司 | A kind of mobile lidar emulation mode rendered based on depth |
| CN110297230A (en) * | 2019-07-15 | 2019-10-01 | 北京理工大学 | Satellite-bone laser radar Echo Signal Simulator |
| CN209589498U (en) * | 2019-04-23 | 2019-11-05 | 苏州智行众维智能科技有限公司 | It is a kind of for intelligent vehicle test vehicle in ring platform system |
| CN110441066A (en) * | 2019-07-15 | 2019-11-12 | 中国第一汽车股份有限公司 | A kind of intelligent driving vehicle is in ring test method and test macro |
| CN110647056A (en) * | 2019-10-28 | 2020-01-03 | 苏州智行众维智能科技有限公司 | Intelligent networking automobile environment simulation system based on whole automobile hardware-in-loop |
| CN110988848A (en) * | 2019-12-23 | 2020-04-10 | 潍柴动力股份有限公司 | Vehicle-mounted laser radar relative pose monitoring method and device |
| CN111123228A (en) * | 2020-01-02 | 2020-05-08 | 浙江力邦合信智能制动系统股份有限公司 | Vehicle-mounted radar integration test system and method |
| CN111435160A (en) * | 2019-01-15 | 2020-07-21 | 广州汽车集团股份有限公司 | In-loop testing method and system for vehicle radar device |
| CN111795832A (en) * | 2020-06-02 | 2020-10-20 | 福瑞泰克智能系统有限公司 | Intelligent driving vehicle testing method, device and equipment |
| CN111919225A (en) * | 2018-03-27 | 2020-11-10 | 辉达公司 | Training, testing, and validating autonomous machines using a simulated environment |
| CN112287557A (en) * | 2020-11-09 | 2021-01-29 | 东风汽车集团有限公司 | Radar point cloud data loop playback method and system for assisting driving simulation test |
| DE102019121552A1 (en) * | 2019-08-09 | 2021-02-11 | Dspace Digital Signal Processing And Control Engineering Gmbh | Test bench for testing a lidar sensor |
| CN112639793A (en) * | 2020-08-05 | 2021-04-09 | 华为技术有限公司 | Test method and device for automatically driving vehicle |
| CN112652045A (en) * | 2020-12-30 | 2021-04-13 | 哈尔滨工业大学（威海） | Point cloud fusion method for automatic driving virtual-real fusion test and application thereof |
| CN112684423A (en) * | 2020-12-30 | 2021-04-20 | 东风汽车有限公司 | Automatic driving function test system and test method |
| CN112987703A (en) * | 2021-05-19 | 2021-06-18 | 北京博科测试系统股份有限公司 | System and method for developing and testing in-loop automatic driving of whole vehicle in laboratory |
| CN113360399A (en) * | 2021-06-29 | 2021-09-07 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | Real vehicle debugging system and device for automatic driving system and storage medium |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110031813B (en) * | 2019-05-21 | 2024-04-16 | 吉林大学 | Vehicle millimeter wave radar test system for multi-target dynamic simulation |
-
2021
- 2021-09-08 CN CN202111045697.0A patent/CN113484851B/en active Active
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107966693A (en) * | 2017-12-05 | 2018-04-27 | 成都合纵连横数字科技有限公司 | A kind of mobile lidar emulation mode rendered based on depth |
| CN111919225A (en) * | 2018-03-27 | 2020-11-10 | 辉达公司 | Training, testing, and validating autonomous machines using a simulated environment |
| CN111435160A (en) * | 2019-01-15 | 2020-07-21 | 广州汽车集团股份有限公司 | In-loop testing method and system for vehicle radar device |
| CN209589498U (en) * | 2019-04-23 | 2019-11-05 | 苏州智行众维智能科技有限公司 | It is a kind of for intelligent vehicle test vehicle in ring platform system |
| CN110297230A (en) * | 2019-07-15 | 2019-10-01 | 北京理工大学 | Satellite-bone laser radar Echo Signal Simulator |
| CN110441066A (en) * | 2019-07-15 | 2019-11-12 | 中国第一汽车股份有限公司 | A kind of intelligent driving vehicle is in ring test method and test macro |
| DE102019121552A1 (en) * | 2019-08-09 | 2021-02-11 | Dspace Digital Signal Processing And Control Engineering Gmbh | Test bench for testing a lidar sensor |
| CN110647056A (en) * | 2019-10-28 | 2020-01-03 | 苏州智行众维智能科技有限公司 | Intelligent networking automobile environment simulation system based on whole automobile hardware-in-loop |
| CN110988848A (en) * | 2019-12-23 | 2020-04-10 | 潍柴动力股份有限公司 | Vehicle-mounted laser radar relative pose monitoring method and device |
| CN111123228A (en) * | 2020-01-02 | 2020-05-08 | 浙江力邦合信智能制动系统股份有限公司 | Vehicle-mounted radar integration test system and method |
| CN111795832A (en) * | 2020-06-02 | 2020-10-20 | 福瑞泰克智能系统有限公司 | Intelligent driving vehicle testing method, device and equipment |
| CN112639793A (en) * | 2020-08-05 | 2021-04-09 | 华为技术有限公司 | Test method and device for automatically driving vehicle |
| CN112287557A (en) * | 2020-11-09 | 2021-01-29 | 东风汽车集团有限公司 | Radar point cloud data loop playback method and system for assisting driving simulation test |
| CN112652045A (en) * | 2020-12-30 | 2021-04-13 | 哈尔滨工业大学（威海） | Point cloud fusion method for automatic driving virtual-real fusion test and application thereof |
| CN112684423A (en) * | 2020-12-30 | 2021-04-20 | 东风汽车有限公司 | Automatic driving function test system and test method |
| CN112987703A (en) * | 2021-05-19 | 2021-06-18 | 北京博科测试系统股份有限公司 | System and method for developing and testing in-loop automatic driving of whole vehicle in laboratory |
| CN113360399A (en) * | 2021-06-29 | 2021-09-07 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | Real vehicle debugging system and device for automatic driving system and storage medium |
Non-Patent Citations (3)
| Title |
|---|
| A Systematic Review of Perception System and Simulators for Autonomous Vehicles Research;Francisca Rosique;《Sensors》;20190205;第1-29页 * |
| Generation and Validation of Virtual Point Cloud Data for Automated;Timo Hanke;《2017 IEEE 20th International Conference on Intelligent Transportation Systems》;20180315;第1-6页 * |
| State-of-the-Art Sensor Models for Virtual Testing of Advanced Driver;Birgit Schlager;《SAE International Journal of Connected and Automated Vehicles》;20201029;第233-261页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113484851A (en) | 2021-10-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113484851B (en) | Simulation test system and method for vehicle-mounted laser radar and complete vehicle in-loop test system | |
| CN108319259B (en) | Test system and test method | |
| US20220136930A1 (en) | System for testing intelligent vehicles | |
| CN110456757B (en) | Whole vehicle testing method and system for unmanned vehicle | |
| CN110647056B (en) | Intelligent networking automobile environment simulation system based on whole automobile hardware-in-loop | |
| CN109327695A (en) | The test drives scene database system of virtual test Driving Scene for height reality | |
| CN105573296A (en) | Hardware-in-loop-based automation test system for automobile diagnosis, and method thereof | |
| CN108008366B (en) | Radar target echo simulation method and system | |
| CN112685289A (en) | Scene generation method, and scene-based model in-loop test method and system | |
| CN115016323A (en) | Automatic driving simulation test system and method | |
| CN111123228A (en) | Vehicle-mounted radar integration test system and method | |
| CN218332314U (en) | HIL simulation test platform based on intelligent driving area controller | |
| CN113009900A (en) | Hardware-in-loop simulation system of ADAS controller | |
| CN110936959B (en) | On-line diagnosis and prediction of vehicle perception system | |
| CN113588289A (en) | Automatic parking real vehicle test system with high-precision positioning function and test method | |
| CN113777952A (en) | Automatic driving simulation test method for interactive mapping of real vehicle and virtual vehicle | |
| CN115185205A (en) | Intelligent driving simulation method, system, terminal device and readable storage medium | |
| CN116224954A (en) | Intelligent driving environment testing party, environment and storage medium fusing real road scene | |
| CN114280562A (en) | Radar simulation test method and computer-readable storage medium for implementing the method | |
| CN117131589A (en) | Simulation test method and device for intelligent network-connected vehicle cooperative algorithm | |
| CN115981284A (en) | Vehicle simulation test method, apparatus, computer device, medium, and program product | |
| CN115755865A (en) | Commercial vehicle driving assistance hardware in-loop test system and method | |
| CN113468735A (en) | Laser radar simulation method, device and system and storage medium | |
| CN113504734A (en) | Image display-based lane line simulation test method and system | |
| Cheng et al. | An Indoor Rapid Testing Platform for Autonomous Vehicles Using Vehicle-in-the-Loop Simulation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |