CN113655732A - Intelligent traffic simulation system and method for automatically driving bus under guidance of magnetic nails - Google Patents
Intelligent traffic simulation system and method for automatically driving bus under guidance of magnetic nails Download PDFInfo
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- CN113655732A CN113655732A CN202110945831.6A CN202110945831A CN113655732A CN 113655732 A CN113655732 A CN 113655732A CN 202110945831 A CN202110945831 A CN 202110945831A CN 113655732 A CN113655732 A CN 113655732A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses an intelligent traffic simulation system for automatically driving a bus under the guidance of magnetic nails, which comprises a three-dimensional virtual driving environment module, a three-dimensional virtual driving environment module and a magnetic nail driving environment module, wherein the three-dimensional virtual driving environment module is used for simulating the driving state of the intelligent bus; the route simulation module is used for simulating a driving route of the intelligent bus on the magnetic nail road surface; the training data acquisition module is used for acquiring training data from the three-dimensional virtual driving environment module; the training model module is used for training a driving model according to the training data acquired by the training data acquisition module; the three-dimensional virtual driving module is provided with an external control interface and used for controlling the intelligent automobile. The intelligent traffic simulation system provided by the invention utilizes the three-dimensional virtual driving environment module to carry out simulation training, and compared with real vehicle training under a real scene, the test-and-error cost is reduced, and the development safety is improved. The invention also discloses a simulation method of the intelligent traffic simulation system for automatically driving the bus under the guidance of the magnetic nail.
Description
Technical Field
The invention relates to a computer simulation technology, in particular to an intelligent traffic simulation system and a simulation method for automatically driving a bus under the guidance of magnetic nails.
Background
In recent years, as automobiles are widely used, various traffic problems are increasing, and in order to effectively solve the various traffic problems, research on intelligent vehicles is highly emphasized in the industry. The intelligent vehicle is one of the hot spots of the current domestic and foreign intelligent traffic field research, and the research aim is to hopefully construct an integrated system comprising the functions of information perception, intelligent decision, multi-level auxiliary driving and the like by comprehensively applying various advanced technologies, so that the control level of the vehicle is improved, and the safe operation of road traffic is guaranteed.
However, the method for testing the researched content by constructing the intelligent automobile in a real scene has the defects of high cost, poor safety performance, long development period and the like. The existing simulation platform can only rely on real vehicle data collection, the data collection difficulty is high, the data quantity is not enough to perfect the model, limited simulation can be carried out, the cost of real vehicle data collection is high, and the consumption of manpower and material resources is high.
Unity3D is a virtual reality development engine, which has been widely used in the development of intelligent driving virtual reality scenes, especially in intelligent rail transit, and the virtual reality intelligent driving technology simulates real scenes through an automatic driving algorithm and utilizes externally sensed data to control simulation models.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an intelligent traffic simulation system for automatically driving a bus under the guidance of a magnetic nail, which solves the problems of high data acquisition difficulty and high cost of the conventional simulation platform based on a digital twin (virtual driving) scene, utilizes a three-dimensional virtual driving environment module to perform simulation training, reduces the trial and error cost compared with real-time training in a real scene, and improves the development safety.
Another object of the present invention is to provide a simulation method of an intelligent traffic simulation system for a magnetic nail guided autonomous bus.
One technical scheme for achieving the purpose is as follows: an intelligent traffic simulation system for a magnetic nail guided autonomous bus, comprising:
the three-dimensional virtual driving environment module is used for simulating the driving state of the intelligent bus;
the route simulation module is used for simulating a driving route of the intelligent bus on the magnetic nail road surface;
the training data acquisition module is used for acquiring training data from the three-dimensional virtual driving environment module;
the training model module is used for training a driving model according to the training data acquired by the training data acquisition module;
the three-dimensional virtual driving module is provided with an external control interface and used for controlling the intelligent automobile.
The intelligent traffic simulation system for the magnetic nail guided automatic driving bus comprises a three-dimensional virtual driving environment module and a magnetic nail guiding automatic driving environment module, wherein the three-dimensional virtual driving environment module comprises:
the environment model submodule is used for simulating the environment and vehicles in the environment;
and the magnetic nail guiding automatic driving bus model submodule is used for moving in the environment model submodule so as to realize simulation of the driving state of the intelligent bus.
The intelligent traffic simulation system for the magnetic nail guided automatic driving bus is characterized in that the vehicle in the environment is an automobile model unit with intelligent driving control.
The intelligent transportation simulation system of foretell magnetism nail guide autopilot bus, wherein, magnetism nail guide autopilot bus model submodule piece includes:
the appearance model unit is used for simulating the appearance of the intelligent automobile;
the dynamic model unit is used for simulating the dynamic characteristics of the intelligent automobile and is matched with the appearance model unit to form an intelligent automobile model;
the driving model unit is used for controlling the intelligent automobile model; the external control interface is arranged on the driving model unit
The intelligent traffic simulation system for the magnetic nail guided automatic driving bus comprises:
the instruction acquisition submodule is used for acquiring instruction data of the intelligent automobile in the three-dimensional virtual driving environment module;
the state acquisition submodule is used for acquiring environmental state data in the three-dimensional virtual driving environment module and state data of the intelligent automobile;
and the environmental state data, the intelligent automobile instruction data and the intelligent automobile state data in the three-dimensional virtual driving environment module jointly form the training data.
The intelligent traffic simulation system for the magnetic nail guided automatic driving bus comprises a model input module, wherein the model input module comprises:
the automobile model input module is used for inputting an appearance model and a dynamic model to the three-dimensional virtual driving environment module;
the driving model input module is used for inputting the trained driving model to the three-dimensional virtual driving environment module;
and the real data input submodule is used for inputting real vehicle acquisition data to the three-dimensional virtual driving environment module.
The intelligent transportation simulation system of foretell magnetism nail guide autopilot bus, wherein, intelligent transportation simulation system still includes the visual module of driving data, the visual module of driving data includes:
the deconvolution neural network submodule is used for generating visual data according to the driving model;
and the display submodule is used for generating a recognition result according to the visual data.
The invention also provides a simulation method of the intelligent traffic simulation system for automatically driving the bus under the guidance of the magnetic nail, which comprises the following steps:
acquiring training data from a three-dimensional virtual driving environment module;
simulating a magnetic nail road surface by using a unity motion model to obtain a driving route model;
inputting a driving model into an intelligent driving controller;
and simulating in a three-dimensional virtual driving environment module.
By adopting the technical scheme of the intelligent traffic simulation system and the simulation method thereof for automatically driving the bus under the guidance of the magnetic nail, the simulation training is carried out by utilizing the three-dimensional virtual driving environment module, and compared with the real-time training under the real scene, the trial and error cost is reduced, and the development safety is improved.
Drawings
FIG. 1 is a block diagram of an intelligent traffic simulation system for a magnetic nail guided autonomous bus according to the present invention;
fig. 2 is a flowchart of a simulation method of the intelligent traffic simulation system for automatically driving buses guided by magnetic nails according to the present invention.
Detailed Description
In order that those skilled in the art will better understand the technical solution of the present invention, the following detailed description is given with reference to the accompanying drawings:
referring to fig. 1, an embodiment of the present invention provides an intelligent transportation simulation system for guiding an autonomous bus by magnetic nails, including:
the three-dimensional virtual driving environment module 2 is used for simulating the driving state of the intelligent bus;
the route simulation module 3 is used for simulating a driving route of the intelligent bus on the magnetic nail road surface;
the training data acquisition module 4 is used for acquiring training data from the three-dimensional virtual driving environment module;
the training model module 6 is used for training a driving model according to the training data acquired by the training data acquisition module;
the three-dimensional virtual driving module 2 is provided with an external control interface for controlling the intelligent automobile.
The intelligent traffic simulation system may further include a model input module 1 and a driving data visualization module 5.
The model input module 1 includes:
the automobile model input module is used for inputting an appearance model and a dynamic model to the three-dimensional virtual driving environment module;
the driving model input module is used for inputting the trained driving model to the three-dimensional virtual driving environment module;
and the real data input submodule is used for inputting real vehicle acquisition data to the three-dimensional virtual driving environment module.
The three-dimensional virtual driving environment module 2 includes:
the environment model submodule is used for simulating the environment and vehicles in the environment; the vehicle in the environment is an automobile model unit with intelligent driving control;
magnetic nail guide autopilot bus model submodule is used for move in the environment model submodule to realize the emulation to the state of traveling of intelligent bus, and magnetic nail guide autopilot bus model submodule includes:
the appearance model unit is used for simulating the appearance of the intelligent automobile;
the dynamic model unit is used for simulating the dynamic characteristics of the intelligent automobile and is matched with the appearance model unit to form an intelligent automobile model;
the driving model unit is used for controlling the intelligent automobile model; the external control interface is provided on the driving model unit.
The magnetic nail guides the automatic driving bus, and the automobile additionally provided with devices such as a sensor, a controller and an actuator on the basis of a common bus has intelligent environment sensing capability.
The training data acquiring module 4 includes:
the instruction acquisition submodule is used for acquiring instruction data of the intelligent automobile in the three-dimensional virtual driving environment module;
the state acquisition submodule is used for acquiring environmental state data in the three-dimensional virtual driving environment module and state data of the intelligent automobile;
and the environmental state data, the intelligent automobile instruction data and the intelligent automobile state data in the three-dimensional virtual driving environment module jointly form the training data.
The driving data visualization module 5 includes:
the deconvolution neural network submodule is used for generating visual data according to the driving model;
and the display submodule is used for generating a recognition result according to the visual data.
Referring to fig. 2, a simulation method of an intelligent traffic simulation system for automatically driving a bus under guidance of magnetic nails acquires training data from a three-dimensional virtual driving environment module; simulating a magnetic nail road surface by using a unity motion model to obtain a driving route model; inputting a driving model into an intelligent driving controller; and simulating in a three-dimensional virtual driving environment module. The method specifically comprises the following steps:
s1, building a solid model through 3D modeling software such as ug and solidworks, importing the solid model into 3dmax, and exporting a fbx model for unity;
s2, in the virtual simulation software unit, building a virtual scene comprising vehicles, buildings and lawns by referring to the real scene;
s3, in unity, displaying the speed, the corner and the offset of the vehicle on a ui interface by externally hanging a c # script;
s4, in unity, simulating a magnetic nail road surface to draw a route to be driven by the intelligent bus by editing a c # script;
and S5, in unity, simulating the real running state of the vehicle, such as exhaust emission and whistle effect during running, by the aid of the externally-hung sound control and the particle effect control, establishing a virtual driving model, and simulating.
In conclusion, the intelligent traffic simulation system and the simulation method thereof for automatically driving the bus under the guidance of the magnetic nails utilize the three-dimensional virtual driving environment module to perform simulation training, reduce the trial and error cost and improve the development safety compared with real vehicle training in a real scene.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.
Claims (8)
1. The utility model provides an intelligent transportation simulation system of magnetic nail guide autopilot bus which characterized in that includes:
the three-dimensional virtual driving environment module is used for simulating the driving state of the intelligent bus;
the route simulation module is used for simulating a driving route of the intelligent bus on the magnetic nail road surface;
the training data acquisition module is used for acquiring training data from the three-dimensional virtual driving environment module;
the training model module is used for training a driving model according to the training data acquired by the training data acquisition module;
the three-dimensional virtual driving module is provided with an external control interface and used for controlling the intelligent automobile.
2. The intelligent transportation simulation system of a magnetic nail guided autonomous bus as claimed in claim 1, wherein said three-dimensional virtual driving environment module comprises:
the environment model submodule is used for simulating the environment and vehicles in the environment;
and the magnetic nail guiding automatic driving bus model submodule is used for moving in the environment model submodule so as to realize simulation of the driving state of the intelligent bus.
3. The intelligent traffic simulation system of magnetic nail guided autonomous buses of claim 2, wherein the vehicles in the environment are automobile model units with intelligent driving controls.
4. The intelligent transportation simulation system of a magnetic nail guided autonomous bus as claimed in claim 2, wherein said magnetic nail guided autonomous bus model submodule comprises:
the appearance model unit is used for simulating the appearance of the intelligent automobile;
the dynamic model unit is used for simulating the dynamic characteristics of the intelligent automobile and is matched with the appearance model unit to form an intelligent automobile model;
the driving model unit is used for controlling the intelligent automobile model; the external control interface is arranged on the driving model unit
5. The intelligent traffic simulation system of a magnetic nail guided autonomous bus as claimed in claim 1, wherein said training data acquisition module comprises:
the instruction acquisition submodule is used for acquiring instruction data of the intelligent automobile in the three-dimensional virtual driving environment module;
the state acquisition submodule is used for acquiring environmental state data in the three-dimensional virtual driving environment module and state data of the intelligent automobile;
and the environmental state data, the intelligent automobile instruction data and the intelligent automobile state data in the three-dimensional virtual driving environment module jointly form the training data.
6. The intelligent transportation simulation system of a magnetic nail guided autonomous bus as claimed in claim 1, further comprising a model input module, said model input module comprising:
the automobile model input module is used for inputting an appearance model and a dynamic model to the three-dimensional virtual driving environment module;
the driving model input module is used for inputting the trained driving model to the three-dimensional virtual driving environment module;
and the real data input submodule is used for inputting real vehicle acquisition data to the three-dimensional virtual driving environment module.
7. The intelligent transportation simulation system of a magnetic nail guided autonomous bus as claimed in claim 1, further comprising a driving data visualization module, the driving data visualization module comprising:
the deconvolution neural network submodule is used for generating visual data according to the driving model;
and the display submodule is used for generating a recognition result according to the visual data.
8. The simulation method of the intelligent transportation simulation system of the magnetic nail guiding automatic driving bus as claimed in any one of claims 1 to 7, characterized by comprising the following steps:
acquiring training data from a three-dimensional virtual driving environment module;
simulating a magnetic nail road surface by using a unity motion model to obtain a driving route model;
inputting a driving model into an intelligent driving controller;
and simulating in a three-dimensional virtual driving environment module.
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| CN111859618A (en) * | 2020-06-16 | 2020-10-30 | 长安大学 | Multi-end in-loop virtual-real combined traffic comprehensive scene simulation test system and method |
| CN111966104A (en) * | 2020-08-21 | 2020-11-20 | 上海电气集团智能交通科技有限公司 | Fusion navigation vehicle automatic driving system and method based on magnetic nail |
| CN113110449A (en) * | 2021-04-14 | 2021-07-13 | 苏州智行众维智能科技有限公司 | Simulation system of vehicle automatic driving technology |
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- 2021-08-17 CN CN202110945831.6A patent/CN113655732A/en active Pending
Patent Citations (6)
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| CN106249736A (en) * | 2016-07-13 | 2016-12-21 | 上海交通大学 | A kind of automatic guided vehicle based on magnetic nail digital map navigation |
| CN108803607A (en) * | 2018-06-08 | 2018-11-13 | 北京领骏科技有限公司 | A kind of multifunction emulation system for automatic Pilot |
| CN110837697A (en) * | 2019-10-25 | 2020-02-25 | 华南理工大学 | Intelligent traffic simulation system and method for intelligent vehicle |
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