CN114415542A - Automatic driving simulation system, method, server and medium - Google Patents
Automatic driving simulation system, method, server and medium Download PDFInfo
- Publication number
- CN114415542A CN114415542A CN202210008401.6A CN202210008401A CN114415542A CN 114415542 A CN114415542 A CN 114415542A CN 202210008401 A CN202210008401 A CN 202210008401A CN 114415542 A CN114415542 A CN 114415542A
- Authority
- CN
- China
- Prior art keywords
- simulation
- subsystem
- scene
- target area
- data
- 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.)
- Pending
Links
- 238000004088 simulation Methods 0.000 title claims abstract description 163
- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000010276 construction Methods 0.000 claims abstract description 43
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 34
- 238000012360 testing method Methods 0.000 claims abstract description 31
- 238000012545 processing Methods 0.000 claims abstract description 17
- 238000012544 monitoring process Methods 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000013075 data extraction Methods 0.000 claims description 3
- 238000013519 translation Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 6
- 230000008447 perception Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000005094 computer simulation Methods 0.000 description 3
- 239000000284 extract Substances 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses an automatic driving simulation system, a method, a server and a medium, wherein a scene construction subsystem in the system is used for processing received data to be processed corresponding to a target area to obtain a simulation scene file corresponding to the target area; the simulation service subsystem is communicated with the scene construction subsystem and is used for acquiring the simulation scene file determined by the scene construction subsystem and processing the simulation scene file to obtain a dynamic scene corresponding to the target area so as to perform automatic driving simulation on the subsystem to be tested based on the dynamic scene; and an automatic driving algorithm is integrated in the subsystem to be tested. The technical scheme of the embodiment of the invention solves the problems of certain safety risk and high labor cost in the prior art when the road test is carried out, realizes the corresponding road test in the simulation environment, and improves the technical effects of the road test efficiency and the safety.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic driving, in particular to an automatic driving simulation system, method, server and medium.
Background
At present, unmanned vehicles have become a trend. Before the unmanned vehicle is specifically applied, a drive test can be performed to determine a control effect of an automatic driving algorithm, and then the automatic driving algorithm of the effect is adjusted based on the control effect, and the method is also called as a road test.
The road test mainly comprises the following steps: the automatic driving algorithm is deployed on an automatic driving vehicle, and automatic driving is started in a real road environment to test the automatic driving algorithm. The test method is based on a real traffic environment, and the test result is real and reliable.
However, the method has certain problems, the automatic driving algorithm is not mature, and when the unmanned vehicle carries out driving based on the algorithm, certain safety risks, high labor cost and difficulty in completing tests of high mileage and multi-scene coverage in a short time exist.
Disclosure of Invention
The invention provides an automatic driving simulation system, method, server and medium, which are used for completing tests in various scenes in a simulation environment, thereby improving the test efficiency and safety and reducing the technical effect of labor cost.
In a first aspect, an embodiment of the present invention provides an automatic driving simulation system, where the system includes: a scene construction subsystem and a simulation service subsystem;
the scene construction subsystem is used for processing the received data to be processed corresponding to the target area to obtain a simulation scene file corresponding to the target area; the target area is an unmanned vehicle road test area, and the data to be processed corresponds to traffic element information in the target area;
the simulation service subsystem is communicated with the scene construction subsystem and is used for acquiring the simulation scene file determined by the scene construction subsystem and processing the simulation scene file to obtain a dynamic scene corresponding to the target area so as to automatically drive and simulate the subsystem to be tested in the dynamic scene; and an automatic driving algorithm is integrated in the subsystem to be tested.
In a second aspect, an embodiment of the present invention further provides a simulation method using an automatic driving simulation system, where the driving simulation system includes a scene construction subsystem and a simulation service subsystem;
the simulation method comprises the following steps:
the scene construction subsystem processes the received data to be processed corresponding to the target area to obtain a simulation scene file corresponding to the target area; the target area is an unmanned vehicle road test area, and the data to be processed corresponds to traffic element information in the target area;
the simulation service subsystem acquires the simulation scene file determined by the scene construction subsystem, processes the simulation scene file to obtain a dynamic scene corresponding to the target area, and performs automatic driving simulation on a tested subsystem based on the dynamic scene; and an automatic driving algorithm is integrated in the subsystem to be tested.
In a third aspect, an embodiment of the present invention further provides a server, where the server includes:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement the simulation method using the autopilot simulation system according to any one of the embodiments of the invention.
In a fourth aspect, embodiments of the present invention further provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a simulation method using an autopilot simulation system according to any one of the embodiments of the present invention.
According to the technical scheme of the embodiment of the invention, the received data to be processed corresponding to the target area is processed through the scene construction subsystem to obtain the simulation scene file corresponding to the target area, the simulation service subsystem obtains the simulation scene file determined by the scene construction subsystem and processes the simulation scene file to obtain the dynamic scene corresponding to the target area, so that the tested subsystem is subjected to automatic driving simulation based on the dynamic scene, at the moment, the automatic driving algorithm is integrated in the tested subsystem, the technical problems of low safety and high cost due to the fact that the road test is required when the automatic driving algorithm of the unmanned vehicle is tested in the prior art are solved, the automatic driving algorithm is tested in the virtual scene, and the virtual scene is constructed based on the actually acquired road environment information, so that the reality of the simulation test is improved, Safety and effectiveness.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, a brief description is given below of the drawings used in describing the embodiments. It should be clear that the described figures are only views of some of the embodiments of the invention to be described, not all, and that for a person skilled in the art, other figures can be derived from these figures without inventive effort.
Fig. 1 is a schematic structural diagram of an automatic driving simulation system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an automatic driving simulation system according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a simulation method using an autopilot simulation system according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a server according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic structural diagram of an automatic driving simulation system according to an embodiment of the present invention, where the present embodiment is applicable to a situation where various simulated vehicles run in a simulated manner in various scenarios, and the system may be implemented in the form of software and/or hardware, and the hardware may be an electronic device, such as a mobile terminal or a PC.
Referring to fig. 1, an automatic driving simulation system provided by an embodiment of the present invention includes: a scene building subsystem 110 and a simulation services subsystem 120.
The scene construction subsystem 110 is configured to process the received data to be processed corresponding to the target area to obtain a simulation scene file corresponding to the target area; the target area is an unmanned vehicle road test area, and the data to be processed corresponds to traffic element information in the target area; the simulation service subsystem 120 is communicated with the scene construction subsystem, and is used for acquiring the simulation scene file determined by the scene construction subsystem, processing the simulation scene file to obtain a dynamic scene corresponding to the target area, and performing automatic driving simulation on the subsystem to be tested based on the dynamic scene; and an automatic driving algorithm is integrated in the subsystem to be tested.
The scene construction subsystem is used for processing the scene files in the corresponding scene to further obtain the corresponding simulation scene. If the user wants to construct a simulation scene corresponding to the area a, the area a may be used as a target area. The simulation scene file may be a scene file corresponding to the target area. The scene file may include therein element information of various traffic elements in the environment. The data to be processed corresponds to traffic element information in the target area, and the traffic element information includes information such as pedestrians, vehicles, and indicator lights. The target area is an area without the drive test. The simulation service subsystem loads a simulation file to obtain a corresponding dynamic scene, namely the dynamic scene can be subjected to corresponding simulation processing.
For example, referring to FIG. 2, an autopilot simulation system includes a scene building subsystem and a simulation service subsystem. And the scene construction subsystem is used for processing the received data to be processed to obtain a simulation scene file corresponding to the target area. The simulation service subsystem is used for processing the simulation scene file to obtain a dynamic simulation scene. And processing the subsystem to be tested based on the dynamic simulation scene to further obtain a corresponding test report.
Wherein, an automatic driving algorithm is integrated in the subsystem to be tested. The tested subsystem can receive the traffic element state information sent by the simulation service subsystem, and enters a vehicle control instruction for sending a driving algorithm, namely, the vehicle is controlled to run in a simulation test scene based on an automatic driving algorithm.
In this embodiment, before the scene-based construction subsystem processes the received data to be processed, the data acquisition system is further required to acquire the corresponding data to be processed.
The data acquisition subsystem can be arranged on a corresponding vehicle, and the vehicle can be an unmanned vehicle or a driveable vehicle. The automatic driving complete set of hardware and software can be loaded on the vehicle to support sensing data acquisition and automatic driving functions. The hardware may be a camera and a lidar. The vehicle can run in each area, and in the running process, the traffic element information in the corresponding area is collected based on the camera device and the laser radar, namely the traffic flow data is collected in real time. After the collection is completed, the collected data can be stored locally, and the data stored locally is stored in a preset format, wherein the preset format can be record.
Specifically, in the vehicle driving process, the actual traffic flow information may be acquired based on a data acquisition subsystem provided on the vehicle, and the actual traffic flow information may be stored locally as the data to be processed according to a preset format. That is, the data collection subsystem is used for collecting real traffic element data in a real traffic environment, such as information of each vehicle, pedestrian, indicator light, road condition and the like in the real traffic environment.
In this embodiment, the data acquisition subsystem includes a camera module and a data conversion module. And the camera module is used for shooting image information in the target area when the unmanned vehicle is controlled to run or other vehicles driven by people run. The target area may be an area corresponding to a scene to be tested, for example, if traffic element information in the area a is to be collected, the area a may be used as the target area. The target image information includes traffic element information including at least one of roads, pedestrians, vehicles, and indicator lights in the target area. And the data conversion module is communicated with the camera module and is used for converting the target image into structured data after the camera module collects the target image information, so as to obtain a light data stream corresponding to the target area, namely, the light data stream corresponding to the video stream. The lightweight data stream may be treated as data to be processed.
It should be noted that after the to-be-processed data is obtained, the to-be-processed data can be stored to the local, and when the to-be-processed data is stored locally, the to-be-processed data can be stored according to a preset format.
In this embodiment, the scene construction subsystem includes: the data extraction module is used for extracting traffic element information in the data to be processed; the fitting module is used for fitting the traffic element information with map information corresponding to the target area to obtain an operation trace matched with the target area; and the scene construction module is used for generating the simulation scene file based on the operation trace.
Specifically, the scene construction subsystem is mainly used for constructing a corresponding simulation scene. And the data extraction module is used for acquiring the data to be processed acquired by the data acquisition subsystem, extracting traffic element information from the data to be processed and extracting map information of a corresponding area. Based on the fitting module, the traffic element information can be fused in the map to obtain a dynamic simulation scene. That is to say, the data acquired by the data acquisition module is static data, and in order to obtain a simulation scene, the static data and a map of a certain area may be fused to obtain a dynamic scene file. The dynamic scene file may be used as a simulation scene file.
The scene construction subsystem extracts the perception data stored in the record file, and labels the state information of the traffic element, optionally, the position of the traffic element in the map, the size and the type of the traffic element in the map, namely, the position information is fitted with the map of the real traffic environment to generate the motion point trace of the traffic element. The simulation scene compatible with the simulation service subsystem can be constructed according to the operation trace, and at the moment, the format of the simulation scene file is the json format.
In this embodiment, the simulation service subsystem is configured to analyze the simulation scene file to convert the simulation scene file into a dynamic scene; and the dynamic scene is matched with a scene corresponding to the unmanned vehicle when the unmanned vehicle runs in the target area.
The dynamic scene can be understood as a simulated scene of a real environment. That is, the dynamic scene matches a scene corresponding to the unmanned vehicle when traveling in the target area.
In this embodiment, the simulation service subsystem includes: the state updating module is used for creating an information sending sub-thread and sending updated traffic element information to the tested subsystem according to a preset configuration rule; the monitoring module is used for monitoring the vehicle control instruction fed back by the tested subsystem based on the updated traffic element information; and the control module is used for receiving the vehicle control instruction and controlling simulation to run in the dynamic scene based on the vehicle control instruction.
The state updating module is mainly used for creating sub-threads and continuously updating the states of the traffic elements, such as the position information of each traffic element in a map. Meanwhile, the state updating module is also used for periodically sending the latest state information of the traffic elements to the subsystem to be tested. After receiving the updated traffic element state information, the tested subsystem can send a corresponding control instruction to the target vehicle based on an automatic driving algorithm. At this time, the monitoring module can monitor the vehicle control command fed back by the subsystem to be tested.
It should be noted that the vehicle control command fed back by the tested subsystem is generated by the automatic driving algorithm based on the updated traffic element state information. If yes, the updated traffic element status information is: and when the tested subsystem determines that the distance between the two pieces of position information is smaller than a preset distance threshold value, the sent central control instruction can be that the target simulation vehicle stops running or the target simulation vehicle decelerates to run. And the control module can control the target simulation vehicle to execute the operation corresponding to the central control instruction based on the received central control instruction. At this time, the corresponding operation may be the movement of the control target simulation vehicle in the simulation map, and the simulation process of the above operation continues until the simulation is finished or abnormally terminated.
According to the technical scheme of the embodiment of the invention, the received data to be processed corresponding to the target area is processed through the scene construction subsystem to obtain the simulation scene file corresponding to the target area, the simulation service subsystem obtains the simulation scene file determined by the scene construction subsystem and processes the simulation scene file to obtain the dynamic scene corresponding to the target area, so that the tested subsystem is subjected to automatic driving simulation based on the dynamic scene, at the moment, the automatic driving algorithm is integrated in the tested subsystem, the technical problems of low safety and high cost due to the fact that the road test is required when the automatic driving algorithm of the unmanned vehicle is tested in the prior art are solved, the automatic driving algorithm is tested in the virtual scene, and the virtual scene is constructed based on the actually acquired road environment information, so that the reality of the simulation test is improved, Safety and effectiveness.
It should be noted that the simulation scene generated by the simulation subsystem of the invention is based on the real traffic flow, and the reality of the simulation scene can be ensured to the maximum extent; furthermore, the simulation system provided by the invention makes full use of massive sensing data acquired by the data acquisition vehicle, and the system is used for quickly converting the massive sensing data into a large number of complex scenes, so that the scene creation efficiency is improved; thirdly, the simulation system can convert the problem scene in the automatic driving road test into the simulation scene, and the problem scene is continuously reproduced in the simulation environment, which is beneficial to the validity verification of algorithm optimization iteration; finally, the simulation system of the invention realizes a method for introducing artificial driving decision into a simulation scene, compares the automatic driving algorithm with the decision of artificial driving in the same scene, and is beneficial to excavating the optimization direction of the automatic driving algorithm.
The automatic driving simulation system provided by the embodiment of the invention can execute the method for applying the automatic driving simulation system provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
It should be noted that, the units and modules included in the system are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the embodiment of the invention.
Example two
Fig. 3 is a schematic flow chart of a method for applying an automatic driving simulation system according to a second embodiment of the present invention, where the method can be applied to a situation that an automatic driving algorithm needs to be verified, and the method can be implemented by the automatic driving simulation system. The system can be built in hardware or software, and the hardware can be a server. The technical terms that are the same as or corresponding to the above embodiments are not repeated herein.
As shown in fig. 3, the method includes:
s310, the scene construction subsystem processes the received data to be processed corresponding to the target area to obtain a simulation scene file corresponding to the target area; the target area is an unmanned vehicle road test area, and the data to be processed corresponds to traffic element information in the target area.
S320, the simulation service subsystem acquires the simulation scene file determined by the scene construction subsystem, processes the simulation scene file to obtain a dynamic scene corresponding to the target area, and automatically drives and simulates the subsystem to be tested in the dynamic scene; wherein, an automatic driving algorithm is integrated in the subsystem to be tested.
The implementation process of the embodiment of the invention can be seen in the following detailed description:
step 1: and (5) building a data acquisition subsystem. Data acquisition subsystem hardware can be carried on an automatic unmanned vehicle or a manned vehicle. The hardware carried at the moment can be a camera device and a laser radar, and the data acquisition subsystem is mainly used for supporting perception data acquisition.
Step 2: meanwhile, the data acquisition subsystem comprises a sensing data acquisition plug-in. The perception data acquisition plug-in has the function of acquiring perception data output by the automatic driving perception algorithm and storing the perception data in a local file, wherein the local file is in a format of record in the embodiment.
And step 3: and (3) integrating the perception data acquisition plug-in the step (2) in the data acquisition subsystem.
And 4, step 4: and using the data acquisition subsystem to acquire sensing data in the real traffic environment to generate a record file. It can be understood that the integrated data acquisition subsystem can be installed on a vehicle, and in the process of vehicle driving, traffic element information of vehicle driving is acquired based on the data acquisition subsystem, and the traffic element information is stored locally to obtain a file with the format of record.
And 5: and a scene construction subsystem. The scene construction subsystem extracts the perception data stored in the record file, namely the actual traffic environment information, wherein the traffic environment information comprises traffic element information. Fitting the state information (such as the size, the position and the like of the traffic element) of the traffic element with a map of the location of the real traffic environment (namely fitting the map of a certain area) to obtain the running trace of the traffic element, and constructing a simulation scene compatible with the simulation service subsystem according to the running trace, wherein the format of the simulation scene file in the example is in a json form.
Step 6: and converting the record file generated in the step 4 into a simulation scene file by using a scene construction subsystem. That is, the data to be processed is processed based on the scene construction subsystem, and the simulation scene file is obtained.
And 7: and simulating the service subsystem. And the simulation service subsystem reads the traces of all traffic elements in the simulation scene file. Meanwhile, a sub-thread may be created, the state (position coordinates in the map) of the traffic element may be continuously updated based on the created sub-thread, and further, the latest state of the traffic element may be sent based on the created sub-thread cycle, that is, after the state information of the traffic element changes, the traffic element information after the state change may be sent to the tested subsystem based on the sub-thread cycle. Further, a sub-thread may be created, where the sub-thread is used to monitor the vehicle control instruction fed back by the tested subsystem, and it may be understood that after the state information of the traffic element is sent to the tested subsystem, the tested subsystem may determine the control instruction sent to the target simulated vehicle according to the changed state information of the traffic element, and feed the control instruction back to the simulation service subsystem. The simulation service subsystem can control the tested simulated vehicle to move in the map according to the received vehicle control instruction, namely the control instruction, and the work is continuously carried out in the simulation process until the simulation is finished or abnormally terminated.
And 8: and (4) loading the simulation scene file generated in the step (6) into a simulation service subsystem, and starting simulation.
And step 9: and the simulation service subsystem generates a simulation test report after the simulation run is finished. The simulation test includes the ability to evaluate the control effect of algorithms integrated in the subsystem under test on the target simulated vehicle.
According to the technical scheme of the embodiment of the invention, the received data to be processed corresponding to the target area is processed through the scene construction subsystem to obtain the simulation scene file corresponding to the target area, the simulation service subsystem obtains the simulation scene file determined by the scene construction subsystem and processes the simulation scene file to obtain the dynamic scene corresponding to the target area, so that the tested subsystem is subjected to automatic driving simulation based on the dynamic scene, at the moment, the automatic driving algorithm is integrated in the tested subsystem, the technical problems of low safety and high cost due to the fact that the road test is required when the automatic driving algorithm of the unmanned vehicle is tested in the prior art are solved, the automatic driving algorithm is tested in the virtual scene, and the virtual scene is constructed based on the actually acquired road environment information, so that the reality of the simulation test is improved, Safety and effectiveness.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a server according to a third embodiment of the present invention. FIG. 4 illustrates a block diagram of an exemplary server 40 suitable for use in implementing embodiments of the present invention. The server 40 shown in fig. 4 is only an example, and should not bring any limitation to the function and the scope of use of the embodiment of the present invention.
As shown in fig. 4, the server 40 is in the form of a general purpose computing device. The components of server 40 may include, but are not limited to: one or more processors or processing units 401, a system memory 402, and a bus 403 that couples the various system components (including the system memory 402 and the processing unit 401).
The server 40 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by server 40 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 402 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)404 and/or cache memory 405. The server 40 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 406 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, and commonly referred to as a "hard drive"). Although not shown in FIG. 4, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 403 by one or more data media interfaces. Memory 402 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 408 having a set (at least one) of program modules 407 may be stored, for example, in memory 402, such program modules 407 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 407 generally perform the functions and/or methods of the described embodiments of the invention.
The server 40 may also communicate with one or more external devices 409 (e.g., keyboard, pointing device, display 410, etc.), with one or more devices that enable a user to interact with the server 40, and/or with any devices (e.g., network card, modem, etc.) that enable the server 40 to communicate with one or more other computing devices. Such communication may be through input/output (I/O) interface 411. Also, server 40 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via network adapter 412. As shown, the network adapter 412 communicates with the other modules of the server 40 over the bus 403. It should be appreciated that although not shown in FIG. 4, other hardware and/or software modules may be used in conjunction with the server 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 401 executes various functional applications and data processing by running a program stored in the system memory 402, for example, implementing a simulation method of applying the automatic driving simulation system provided by the embodiment of the present invention.
Example four
A fourth embodiment of the present invention further provides a storage medium containing computer-executable instructions that, when executed by a computer processor, are used to perform a simulation method that employs an autopilot simulation system.
The method comprises the following steps:
the scene construction subsystem processes the received data to be processed corresponding to the target area to obtain a simulation scene file corresponding to the target area; the target area is an unmanned vehicle road test area, and the data to be processed corresponds to traffic element information in the target area;
the simulation service subsystem acquires the simulation scene file determined by the scene construction subsystem and processes the simulation scene file to obtain a dynamic scene corresponding to the target area so as to perform automatic driving simulation on the subsystem to be tested in the dynamic scene; and an automatic driving algorithm is integrated in the subsystem to be tested.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. An automated driving simulation system, comprising: a scene construction subsystem and a simulation service subsystem;
the scene construction subsystem is used for processing the received data to be processed corresponding to the target area to obtain a simulation scene file corresponding to the target area; the target area is an unmanned vehicle road test area, and the data to be processed corresponds to traffic element information in the target area;
the simulation service subsystem is communicated with the scene construction subsystem and is used for acquiring the simulation scene file determined by the scene construction subsystem and processing the simulation scene file to obtain a dynamic scene corresponding to the target area so as to automatically drive and simulate the subsystem to be tested in the dynamic scene; and an automatic driving algorithm is integrated in the subsystem to be tested.
2. The system of claim 1, further comprising:
and the data acquisition subsystem is arranged on the unmanned vehicle and used for acquiring the traffic element information in the target area when controlling the unmanned vehicle to run in the target area.
3. The system of claim 1, wherein the data acquisition subsystem comprises a camera module and a data translation module;
the camera module is used for shooting target image information of the target area when the unmanned vehicle is controlled to run; the target image information comprises traffic element information, and the traffic element information comprises at least one of road, pedestrian, vehicle and indicator light information in the target area;
the data conversion module is communicated with the camera module and is used for converting the target image information into structured data to obtain a lightweight data stream corresponding to the target area and taking the lightweight data stream as the data to be processed;
wherein the data to be processed is stored in a preset format.
4. The system of claim 1, wherein the scene construction subsystem comprises:
the data extraction module is used for extracting traffic element information in the data to be processed;
the fitting module is used for fitting the traffic element information with map information corresponding to the target area to obtain an operation trace matched with the target area;
and the scene construction module is used for generating the simulation scene file based on the operation trace.
5. The system of claim 1, wherein the simulation service subsystem is configured to parse the simulation scenario file to convert the simulation scenario file into a dynamic scenario; and the dynamic scene is matched with a scene corresponding to the unmanned vehicle when the unmanned vehicle runs in the target area.
6. The system of claim 1, wherein the emulation services subsystem comprises:
the state updating module is used for creating an information sending sub-thread and sending updated traffic element information to the tested subsystem according to a preset configuration rule;
the monitoring module is used for monitoring the vehicle control instruction fed back by the tested subsystem based on the updated traffic element information;
and the control module is used for receiving the vehicle control instruction and controlling simulation to run in the dynamic scene based on the vehicle control instruction.
7. The system of claim 6, wherein the traffic element information further comprises: pedestrian position information, and position information of a simulated vehicle in the simulation service subsystem.
8. A simulation method using an automatic driving simulation system, comprising: a scene construction subsystem and a simulation service subsystem;
the simulation method comprises the following steps:
the scene construction subsystem processes the received data to be processed corresponding to the target area to obtain a simulation scene file corresponding to the target area; the target area is an unmanned vehicle road test area, and the data to be processed corresponds to traffic element information in the target area;
the simulation service subsystem acquires the simulation scene file determined by the scene construction subsystem and processes the simulation scene file to obtain a dynamic scene corresponding to the target area so as to perform automatic driving simulation on the subsystem to be tested in the dynamic scene; and an automatic driving algorithm is integrated in the subsystem to be tested.
9. A server, characterized in that the server comprises:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a simulation method applying an autopilot simulation system as recited in any one of claims 8.
10. A storage medium containing computer executable instructions for performing a simulation method applying an autopilot simulation system as claimed in claim 8 when executed by a computer processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210008401.6A CN114415542A (en) | 2022-01-06 | 2022-01-06 | Automatic driving simulation system, method, server and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210008401.6A CN114415542A (en) | 2022-01-06 | 2022-01-06 | Automatic driving simulation system, method, server and medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114415542A true CN114415542A (en) | 2022-04-29 |
Family
ID=81271490
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210008401.6A Pending CN114415542A (en) | 2022-01-06 | 2022-01-06 | Automatic driving simulation system, method, server and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114415542A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115542772A (en) * | 2022-09-28 | 2022-12-30 | 北京百度网讯科技有限公司 | Simulation task control method and device and simulation system |
| CN115576331A (en) * | 2022-12-07 | 2023-01-06 | 深圳海星智驾科技有限公司 | Automatic driving operation method and device for engineering machinery, electronic equipment and system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20170117270A (en) * | 2016-04-12 | 2017-10-23 | 자동차부품연구원 | Driving integrated simulation apparatus based on v2x communication |
| CN111781855A (en) * | 2020-07-15 | 2020-10-16 | 北京领骏科技有限公司 | Traffic on-loop automatic driving simulation system |
| CN111814308A (en) * | 2020-06-08 | 2020-10-23 | 同济大学 | Acceleration test system for automatic driving system |
| CN112307566A (en) * | 2020-11-12 | 2021-02-02 | 安徽江淮汽车集团股份有限公司 | Vehicle simulation test method, device, equipment and storage medium |
| CN112668153A (en) * | 2020-12-11 | 2021-04-16 | 国汽(北京)智能网联汽车研究院有限公司 | Method, device and equipment for generating automatic driving simulation scene |
| CN112667366A (en) * | 2021-03-16 | 2021-04-16 | 中汽数据有限公司 | Dynamic scene data importing method, device, equipment and readable storage medium |
| CN113408141A (en) * | 2021-07-02 | 2021-09-17 | 阿波罗智联(北京)科技有限公司 | Automatic driving test method and device and electronic equipment |
-
2022
- 2022-01-06 CN CN202210008401.6A patent/CN114415542A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20170117270A (en) * | 2016-04-12 | 2017-10-23 | 자동차부품연구원 | Driving integrated simulation apparatus based on v2x communication |
| CN111814308A (en) * | 2020-06-08 | 2020-10-23 | 同济大学 | Acceleration test system for automatic driving system |
| CN111781855A (en) * | 2020-07-15 | 2020-10-16 | 北京领骏科技有限公司 | Traffic on-loop automatic driving simulation system |
| CN112307566A (en) * | 2020-11-12 | 2021-02-02 | 安徽江淮汽车集团股份有限公司 | Vehicle simulation test method, device, equipment and storage medium |
| CN112668153A (en) * | 2020-12-11 | 2021-04-16 | 国汽(北京)智能网联汽车研究院有限公司 | Method, device and equipment for generating automatic driving simulation scene |
| CN112667366A (en) * | 2021-03-16 | 2021-04-16 | 中汽数据有限公司 | Dynamic scene data importing method, device, equipment and readable storage medium |
| CN113408141A (en) * | 2021-07-02 | 2021-09-17 | 阿波罗智联(北京)科技有限公司 | Automatic driving test method and device and electronic equipment |
Non-Patent Citations (1)
| Title |
|---|
| 马志成;王立;李志斌;: "自动驾驶整车在环仿真平台研究及模拟实现", 汽车实用技术, pages 42 - 46 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115542772A (en) * | 2022-09-28 | 2022-12-30 | 北京百度网讯科技有限公司 | Simulation task control method and device and simulation system |
| CN115542772B (en) * | 2022-09-28 | 2024-04-16 | 北京百度网讯科技有限公司 | Simulation task control method, device and simulation system |
| CN115576331A (en) * | 2022-12-07 | 2023-01-06 | 深圳海星智驾科技有限公司 | Automatic driving operation method and device for engineering machinery, electronic equipment and system |
| CN115576331B (en) * | 2022-12-07 | 2023-03-10 | 深圳海星智驾科技有限公司 | Automatic driving operation method and device for engineering machinery, electronic equipment and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109509260B (en) | Labeling method, equipment and readable medium of dynamic obstacle point cloud | |
| CN107153363B (en) | Simulation test method, device, equipment and readable medium for unmanned vehicle | |
| CN109032102B (en) | Unmanned vehicle testing method, device, equipment and storage medium | |
| CN109032103B (en) | Method, device and equipment for testing unmanned vehicle and storage medium | |
| CN109145680B (en) | Method, device and equipment for acquiring obstacle information and computer storage medium | |
| CN112560253B (en) | Method, device and equipment for reconstructing driving scene and storage medium | |
| CN110909460A (en) | Internet of vehicles V2X simulation test method, device, equipment and storage medium | |
| CN110765661A (en) | Automatic driving simulation scene generation method and device, electronic equipment and storage medium | |
| CN109472884B (en) | Unmanned vehicle data storage method, device, equipment and storage medium | |
| CN114415628A (en) | Automatic driving test method and device, electronic equipment and storage medium | |
| CN114415542A (en) | Automatic driving simulation system, method, server and medium | |
| CN113341935A (en) | Vehicle testing method, device, testing equipment, system and storage medium | |
| CN113095434A (en) | Target detection method and device, electronic equipment and storage medium | |
| WO2020143676A1 (en) | Unmanned aerial vehicle data processing method and apparatus, device and storage medium | |
| CN109800475A (en) | Automatic Pilot data processing method, device, equipment and computer storage medium | |
| CN110595799A (en) | Method, device, equipment and storage medium for testing unmanned vehicle | |
| CN112230632B (en) | Method, apparatus, device and storage medium for automatic driving | |
| CN113011323A (en) | Method for acquiring traffic state, related device, road side equipment and cloud control platform | |
| CN112860575A (en) | Traffic environment fusion perception in-loop automatic driving algorithm simulation test method | |
| CN115374016A (en) | Test scene simulation system and method, electronic device and storage medium | |
| CN109827610B (en) | Method and device for verifying sensor fusion result | |
| CN115016435A (en) | Automatic driving vehicle test method, device, system, equipment and medium | |
| CN114296716A (en) | Function configuration method and device for intelligent operation of engineering machinery and electronic equipment | |
| CN114722631A (en) | Vehicle test simulation scene generation method and device, electronic equipment and storage medium | |
| CN115061386B (en) | Intelligent driving automatic simulation test system and related equipment |
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 |