CN114063475A - Automatic driving simulation test system based on data synchronization - Google Patents
Automatic driving simulation test system based on data synchronization Download PDFInfo
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Abstract
The invention discloses a simulation test system of automatic driving based on data synchronization, belonging to the technical field of automatic driving, and comprising a traffic scene design unit, a simulation sensing design unit, a dynamics design unit and a test management module; the traffic scene design unit is used for simulating and establishing an external world of automatic driving operation of the vehicle with traffic participants; and the simulation sensing design unit is used for carrying out simulation training test on a perception recognition module of the sensor system. According to the automatic driving simulation test system based on data synchronization, the traffic scene design unit is built to simulate the traffic scene, the mutual behavior data of two adjacent vehicles when the vehicles of the participators are automatically driven based on dynamics are obtained through the three calculation models, the result accuracy of the dynamics calculation models is improved, the result data synchronization and the data under the real environment are compared in a synchronous and real-time mode, and the test accuracy of the system is guaranteed.
Description
Technical Field
The invention belongs to the technical field of automatic driving, and particularly relates to an automatic driving simulation test system based on data synchronization.
Background
The automatic driving simulation software is a simulation technology gradually developed along with the evolution of the automatic driving technology, and plays an increasingly important role in the landing process of the automatic driving automobile. For the automatic driving vehicle, it is generally considered that each automatic driving system needs to complete the performance test of the automatic driving vehicle through 160 hundred million kilometers of driving data, however, if a 1000-vehicle fleet of automatic driving test vehicles is configured, it may take about 50 years to complete the 160 hundred million kilometers of mileage test, so it is seen that the performance test of the automatic driving vehicle through the actual road test is not realistic, which requires a lot of time and cost to be invested, and therefore, the performance test of the automatic driving vehicle is generally implemented based on the computer simulation technology.
In the related art, the performance test of an automatic driving automobile is generally realized through a vehicle-in-loop test system, and the design idea of the vehicle-in-loop test system is provided based on the idea of a semi-physical simulation technology, and the system is a combined test system of a real vehicle and virtual simulation and can realize the integrated test of any open road in a closed field.
In the prior art, although the risk of actual road testing is reduced in a scene that a vehicle can restore an open road to the maximum extent in a closed field, the defect that the accuracy of an existing dynamic calculation model is insufficient exists, and meanwhile, data calculated by the model cannot be synchronously compared with data in a real environment in real time, and the accuracy of simulation testing can also be reduced.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an automatic driving simulation test system based on data synchronization, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a simulation test system of automatic driving based on data synchronization comprises a traffic scene design unit, a simulation sensing design unit, a dynamics design unit and a test management module;
the traffic scene design unit is used for simulating and establishing an external world of automatic driving operation of the vehicle with traffic participants;
the simulation sensing design unit is used for carrying out simulation training test on a perception recognition module of the sensor system and carrying out simulation instruction issuing test on a fusion module of the sensor to the dynamic design unit;
the dynamic design unit is used for simulating the control response of the vehicle to the automatic driving technology and issuing a driving instruction for the driving of the vehicle;
and the test management module is used for managing the three units and synchronously managing the data result of the simulation test.
Further optimizing the technical solution, the traffic scene design unit further includes:
the scene element simulation module is used for simulating scene elements of road structures, road auxiliary facilities, traffic participants, temporary objects and traffic weather conditions;
the participant car-following model calculation module is used for acquiring and describing mutual behavior data of two adjacent cars when the participants automatically drive on the limited overtaking lane based on dynamics;
and the calculation result feedback module is used for feeding back the simulated data and transmitting the data to a subsequent automatic driving design unit.
Further optimizing the technical scheme, the road structure simulated in the scene element simulation module comprises an expressway, an urban road and a rural road section, the road auxiliary facilities comprise road surface management facilities including mark lines, guardrails and traffic signal lamps, the traffic participators comprise various vehicles and pedestrians, the temporary objects comprise road barriers, warning boards and road surface abandoned objects, and the traffic weather comprises weather conditions including rain, snow and haze.
Further optimizing the technical scheme, the participator car-following model calculation module is provided with three calculation models which are respectively used for representing the following targets:
(1) the relationship between the acceleration of the vehicle and the speed of the vehicle, and the relative speed and the relative distance between the vehicle and an adjacent front vehicle;
(2) the expected speed, the following distance and the asymmetrical behavior in the acceleration and deceleration process in the automatic driving process of the vehicle;
(3) desired headway distance during automatic driving of the vehicle.
Further optimizing the technical scheme, when the target (1) is expressed, the calculation model is the following simulation formula:
namely, it is
Wherein theta is a fixed parameter, and the numerical value of theta is corrected by using real traffic track data; alpha is the acceleration of the ith vehicle driven automatically; v. ofiThe self speed of the ith vehicle which is automatically driven; Δ viThe relative speed of the ith vehicle and the preceding vehicle which are automatically driven; Δ xi-1,iThe relative distance between the ith vehicle and the preceding vehicle which is automatically driven; t is the time taken by the ith vehicle for autonomous driving; t is the time used by the front vehicle.
Further optimizing the technical scheme, when the target (2) is expressed, the calculation model is the following simulation formula:
namely, it is
Wherein, an(t) is the desired acceleration of the autonomous nth vehicle;
maximum acceleration/deceleration for the nth vehicle that is automatically driven; vn(t) a simulated speed of the nth vehicle for autonomous driving; vn' (t) is the desired speed of the autonomous nth vehicle; beta is a high speed coefficient; t is the time used by the nth vehicle of automatic driving; sn' (t) is the expected following distance of the nth vehicle for autonomous driving; snAnd (t) is the simulated following distance of the nth vehicle which is automatically driven.
Further optimizing the technical scheme, when the target (3) is expressed, the calculation model is the following simulation formula:
namely, it is
Wherein the content of the first and second substances,
the expected vehicle-to-vehicle distance between the nth vehicle and the preceding vehicle which are automatically driven; vn(t) a simulated speed of the nth vehicle for autonomous driving;
desired speed of nth vehicle for autonomous driving;
for comfortable deceleration;
the minimum distance between the nth vehicle and the previous vehicle which are automatically driven in a static state;
an expected headway; t is the time used by the nth vehicle of automatic driving;
maximum acceleration/deceleration for the nth vehicle that is automatically driven; Δ Vn(t) is a speed difference between the nth vehicle and the preceding vehicle which are automatically driven.
Further optimizing the technical scheme, the sensor system is various sensors installed on a simulated vehicle and used for simulating to obtain the real-time environment state in a traffic scene and simulating different signal contents.
Further optimizing the technical scheme, the simulation sensing design unit needs to perform simulation tests in a laboratory and a closed test field, is used for performing complete parameter control and data recording on a test environment, arranging a simulation environment, synchronously comparing data output by the sensor system with data output by a real environment, and performing simulation tests on a sensing identification module and a fusion module of the sensor system.
Further optimizing the technical scheme, the dynamic design unit comprises different subsystems including a vehicle body, a power transmission system, a suspension system, a steering system, a braking system and wheels.
Compared with the prior art, the invention provides an automatic driving simulation test system based on data synchronization, which has the following beneficial effects:
according to the automatic driving simulation test system based on data synchronization, the traffic scene design unit is built to simulate the traffic scene, the mutual behavior data of two adjacent vehicles when the vehicles of the participators are automatically driven based on dynamics are obtained through the three calculation models, the result accuracy of the dynamics calculation models is improved, the result data synchronization and the data under the real environment are compared in a synchronous and real-time mode, and the test accuracy of the system is guaranteed.
Drawings
Fig. 1 is a schematic structural diagram of an automatic driving simulation test system based on data synchronization according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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.
Example (b):
referring to fig. 1, a simulation test system for automatic driving based on data synchronization includes a traffic scene design unit, a simulation sensing design unit, a dynamics design unit, and a test management module.
The traffic scene design unit is used for simulating and establishing the external world of automatic driving operation of the vehicle with the traffic participants.
The simulation sensing design unit is used for carrying out simulation training test on a perception recognition module of the sensor system and carrying out simulation instruction issuing test on a fusion module of the sensor to the dynamic design unit.
And the dynamic design unit is used for simulating the control response of the vehicle to the automatic driving technology and issuing a driving instruction for the driving of the vehicle.
And the test management module is used for managing the three units and synchronously managing the data result of the simulation test. Selecting a simulation test case, starting and stopping a test, and scheduling a simulation module. Meanwhile, the test data is managed, such as: updating a simulation test case, recording and analyzing simulation test data, and generating a simulation test report.
Specifically, the traffic scene design unit further includes:
the scene element simulation module is used for simulating scene elements of road structures, road auxiliary facilities, traffic participants, temporary objects and traffic weather conditions;
the participant car-following model calculation module is used for acquiring and describing mutual behavior data of two adjacent cars when the participants automatically drive on the limited overtaking lane based on dynamics;
and the calculation result feedback module is used for feeding back the simulated data and transmitting the data to a subsequent automatic driving design unit.
Specifically, the road structure simulated in the scene element simulation module comprises an expressway, an urban highway and a rural road section, road auxiliary facilities comprise road surface management facilities including mark lines, guardrails and traffic signal lamps, traffic participants comprise various vehicles and pedestrians, temporary objects comprise road barriers, warning boards and road surface abandoned objects, and the traffic weather comprises weather conditions including rain, snow and haze.
Specifically, the participant car-following model calculation module is provided with three calculation models, which are respectively used for representing the following targets:
(1) the relationship between the acceleration of the vehicle and the speed of the vehicle, and the relative speed and the relative distance between the vehicle and an adjacent front vehicle;
(2) the expected speed, the following distance and the asymmetrical behavior in the acceleration and deceleration process in the automatic driving process of the vehicle;
(3) desired headway distance during automatic driving of the vehicle.
Specifically, when the target (1) is expressed, the calculation model is the following simulation formula:
namely, it is
Wherein theta is a fixed parameter, and the numerical value of theta is corrected by using real traffic track data; alpha is the acceleration of the ith vehicle driven automatically; v. ofiThe self speed of the ith vehicle which is automatically driven; Δ viThe relative speed of the ith vehicle and the preceding vehicle which are automatically driven; Δ xi-1,iThe relative distance between the ith vehicle and the preceding vehicle which is automatically driven; t is the time taken by the ith vehicle for autonomous driving; t is the time used by the front vehicle.
Specifically, when the target (2) is expressed, the calculation model is the following simulation formula:
namely, it is
Wherein, an(t) is the desired acceleration of the autonomous nth vehicle;
maximum acceleration/deceleration for the nth vehicle that is automatically driven; vn(t) a simulated speed of the nth vehicle for autonomous driving; vn' (t) is the desired speed of the autonomous nth vehicle; beta is a high speed coefficient; t is the time used by the nth vehicle of automatic driving; s'n(t) is the expected following distance of the nth vehicle for automatic driving; snAnd (t) is the simulated following distance of the nth vehicle which is automatically driven.
Specifically, when the target (3) is represented, the calculation model is the following simulation formula:
namely, it is
Wherein the content of the first and second substances,
the expected vehicle-to-vehicle distance between the nth vehicle and the preceding vehicle which are automatically driven; vn(t) a simulated speed of the nth vehicle for autonomous driving;
desired speed of nth vehicle for autonomous driving;
for comfortable deceleration;
the minimum distance between the nth vehicle and the previous vehicle which are automatically driven in a static state;
an expected headway; t is the time used by the nth vehicle of automatic driving;
maximum acceleration/deceleration for the nth vehicle that is automatically driven; Δ Vn(t) is a speed difference between the nth vehicle and the preceding vehicle which are automatically driven.
By establishing the traffic scene design unit, the traffic scene design unit simulates the traffic scene, and the three calculation models acquire the mutual behavior data of two adjacent vehicles when the participator automatically drives the vehicle based on dynamics, the result accuracy of the dynamics calculation model is improved, the result data is synchronously compared with the data under the real environment in real time, and the test accuracy of the system is ensured.
Specifically, the sensor system is used for simulating various sensors mounted on a vehicle, and is used for simulating to obtain a real-time environment state in a traffic scene and simulating different signal contents.
According to different sensor types, different signal contents are simulated, such as: the camera sensor outputs image signals, the laser radar sensor outputs point cloud signals, and the navigation sensor outputs positioning signals. Based on different sensor characteristics and parameters, the 'limitation' of the sensor is simulated, such as: the detection range of sensor, the distortion of camera with dazzle light, different materials are to the absorptive influence of laser radar light, and the guardrail is to the clutter influence of millimeter wave radar.
Specifically, the simulation sensing design unit needs to perform simulation tests in a laboratory and a closed test field, and is used for performing complete parameter control and data recording on a test environment, arranging a simulation environment, performing synchronous comparison on data output by the sensor system and data output by a real environment, and performing simulation tests on a perception identification module and a fusion module of the sensor system.
Specifically, the dynamic design unit comprises different subsystems including a vehicle body, a power transmission system, a suspension system, a steering system, a braking system and wheels. When the simulated vehicle performs control command response on the automatic driving system, the acceleration/deceleration and the distance between vehicles are safely controlled, and timely braking and steering actions are realized.
The invention has the beneficial effects that: according to the automatic driving simulation test system based on data synchronization, the traffic scene design unit is built to simulate the traffic scene, the mutual behavior data of two adjacent vehicles when the vehicles of the participators are automatically driven based on dynamics are obtained through the three calculation models, the result accuracy of the dynamics calculation models is improved, the result data synchronization and the data under the real environment are compared in a synchronous and real-time mode, and the test accuracy of the system is guaranteed.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A simulation test system of automatic driving based on data synchronization is characterized by comprising a traffic scene design unit, a simulation sensing design unit, a dynamics design unit and a test management module;
the traffic scene design unit is used for simulating and establishing an external world of automatic driving operation of the vehicle with traffic participants;
the simulation sensing design unit is used for carrying out simulation training test on a perception recognition module of the sensor system and carrying out simulation instruction issuing test on a fusion module of the sensor to the dynamic design unit;
the dynamic design unit is used for simulating the control response of the vehicle to the automatic driving technology and issuing a driving instruction for the driving of the vehicle;
and the test management module is used for managing the three units and synchronously managing the data result of the simulation test.
2. The system of claim 1, wherein the traffic scene design unit further comprises:
the scene element simulation module is used for simulating scene elements of road structures, road auxiliary facilities, traffic participants, temporary objects and traffic weather conditions;
the participant car-following model calculation module is used for acquiring and describing mutual behavior data of two adjacent cars when the participants automatically drive on the limited overtaking lane based on dynamics;
and the calculation result feedback module is used for feeding back the simulated data and transmitting the data to a subsequent automatic driving design unit.
3. The simulation test system for automatic driving based on data synchronization of claim 2, wherein the road structure simulated in the scene element simulation module comprises expressway, urban highway and rural road sections, road accessories comprise road surface management facilities including sign lines, guardrails and traffic signal lamps, traffic participants comprise various vehicles and pedestrians, temporary objects comprise road barriers, warning boards and road surface abandoned objects, and traffic weather comprises weather conditions including rain, snow and haze.
4. The data synchronization-based autopilot simulation test system of claim 2 wherein three computational models are provided in the participant follow-up model computation module, each model representing the following objectives:
(1) the relationship between the acceleration of the vehicle and the speed of the vehicle, and the relative speed and the relative distance between the vehicle and an adjacent front vehicle;
(2) the expected speed, the following distance and the asymmetrical behavior in the acceleration and deceleration process in the automatic driving process of the vehicle;
(3) desired headway distance during automatic driving of the vehicle.
5. The data synchronization-based autopilot simulation test system according to claim 4 characterized in that in representing the target (1) the computational model is the following simulation formula:
i.e. vi(t-T),Δvi(t-T|θ)
Wherein theta is a fixed parameter, and the numerical value of theta is corrected by using real traffic track data; alpha is the acceleration of the ith vehicle driven automatically; v. ofiThe self speed of the ith vehicle which is automatically driven; Δ viThe relative speed of the ith vehicle and the preceding vehicle which are automatically driven; Δ xi-1,iFor the i-th vehicle to be driven automaticallyRelative distance to the leading vehicle; t is the time taken by the ith vehicle for autonomous driving; t is the time used by the front vehicle.
6. The data synchronization-based autopilot simulation test system of claim 4 wherein in representing the target (2) the computational model is the following simulation formula:
namely, it is
Wherein, an(t) is the desired acceleration of the autonomous nth vehicle;
maximum acceleration/deceleration for the nth vehicle that is automatically driven; vn(t) a simulated speed of the nth vehicle for autonomous driving; v'n(t) is the desired speed of the autonomous nth vehicle; beta is a high speed coefficient; t is the time used by the nth vehicle of automatic driving; s'n(t) is the expected following distance of the nth vehicle for automatic driving; snAnd (t) is the simulated following distance of the nth vehicle which is automatically driven.
7. The simulation test system for automated driving based on data synchronization according to claim 4, characterized in that, when representing the target (3), the calculation model is the following simulation formula:
namely, it is
Wherein the content of the first and second substances,
the expected vehicle-to-vehicle distance between the nth vehicle and the preceding vehicle which are automatically driven; vn(t) a simulated speed of the nth vehicle for autonomous driving;
desired speed of nth vehicle for autonomous driving;
for comfortable deceleration;
the minimum distance between the nth vehicle and the previous vehicle which are automatically driven in a static state;
an expected headway; t is the time used by the nth vehicle of automatic driving;
maximum acceleration/deceleration for the nth vehicle that is automatically driven; Δ Vn(t) is a speed difference between the nth vehicle and the preceding vehicle which are automatically driven.
8. The data synchronization-based automatic driving simulation test system according to claim 1, wherein the sensor system is various sensors installed on a simulated vehicle, and is used for simulating and obtaining real-time environmental conditions in a traffic scene and simulating different signal contents.
9. The automatic driving simulation test system based on data synchronization of claim 1, wherein the simulation sensing design unit needs to perform simulation tests in a laboratory and a closed test field for performing complete parameter control and data recording on a test environment, arranging a simulation environment, and performing simulation tests on a sensing recognition module and a fusion module of the sensor system based on synchronous comparison between data output by the sensor system and data output by a real environment.
10. The data synchronization-based autopilot simulation test system of claim 1 wherein the dynamic design unit comprises various subsystems including a body, a drivetrain, a suspension system, a steering system, a braking system and wheels.
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