CN114660956A - Intelligent driving simulation test system, method, electronic device and storage medium - Google Patents
Intelligent driving simulation test system, method, electronic device and storage medium Download PDFInfo
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Abstract
The application relates to an intelligent driving simulation test system, a method, an electronic device and a storage medium, wherein the intelligent driving simulation test system comprises: the system comprises a scene simulation module, a data analysis module and a controller to be tested, wherein the scene simulation module is used for building a simulation test scene based on a high-precision map and sending the simulation test scene to the data analysis module; the data analysis module is in communication connection with the scene simulation module and is used for analyzing to obtain simulation information based on the received simulation test scene and sending the simulation information to the controller to be tested, wherein the simulation information at least comprises high-precision map network information; the controller to be tested is used for generating a vehicle control instruction based on the received simulation information and transmitting the vehicle control instruction to the scene simulation module; the scene simulation module comprises a vehicle dynamics model, and the vehicle dynamics model is used for carrying out simulation test in a simulation test scene according to a vehicle control instruction. By the method and the device, the reliability of the advanced intelligent driving simulation test is improved.
Description
Technical Field
The present disclosure relates to the field of intelligent driving simulation technologies, and in particular, to an intelligent driving simulation test system, method, electronic device, and storage medium.
Background
With the continuous development of intelligent driving technology, the precision requirements of various advanced intelligent driving functions of the vehicle on the information of the road environment are gradually improved, the high-precision map can provide centimeter-level quantization degree, can accurately describe the road information such as the shape, the number of lanes, the gradient, the curvature, the course and the heeling of each lane, and is the basis for realizing advanced intelligent driving of the vehicle.
During the development of various advanced intelligent driving functions, a large number of vehicle tests are required to verify the feasibility of the links between the high-precision map and various advanced intelligent driving function algorithms. At present, in a simulation test aiming at advanced intelligent driving functions, most of sensing data or video streams of sensing equipment in an intelligent driving virtual scene are introduced into an intelligent driving controller, and further the intelligent driving controller obtains road network information according to the received sensing data or video streams so as to perform the simulation test.
Aiming at the problem of low reliability of advanced intelligent driving simulation test in the related technology, no effective solution is provided at present.
Disclosure of Invention
The embodiment provides an intelligent driving simulation test system, an intelligent driving simulation test method, an electronic device and a storage medium, so as to solve the problem of low reliability of a high-grade intelligent driving simulation test in the related art.
In a first aspect, in this embodiment, an intelligent driving simulation test system is provided, including: a scene simulation module, a data analysis module and a controller to be tested,
the scene simulation module is used for building a simulation test scene based on the high-precision map and sending the simulation test scene to the data analysis module;
the data analysis module is in communication connection with the scene simulation module and is used for receiving the simulation test scene, analyzing the simulation test scene to obtain simulation information and sending the simulation information to the controller to be tested, wherein the simulation information at least comprises high-precision map network information;
the controller to be tested is in communication connection with the data analysis module and the scene simulation module, and is used for receiving the simulation information sent by the data analysis module, generating a vehicle control instruction based on the received simulation information, and transmitting the vehicle control instruction to the scene simulation module;
the scene simulation module comprises a vehicle dynamics model, and the vehicle dynamics model is used for carrying out simulation test in the simulation test scene according to the vehicle control command.
In some embodiments, the scene simulation module further comprises a vehicle attitude determination unit and a display unit,
the vehicle attitude determination unit is in communication connection with the vehicle dynamics model and is used for determining vehicle attitude information of the vehicle dynamics model during simulation test in the simulation test scene in real time and sending the vehicle attitude information to the display unit;
the display unit is in communication connection with the vehicle attitude determination unit and is used for receiving the vehicle attitude information and displaying a simulation test result in the simulation test scene according to the vehicle attitude information, wherein the simulation test result is used for representing the feasibility of a functional algorithm of the controller to be tested in a high-precision map.
In some embodiments, the data parsing module, in terms of being configured to obtain the simulation information based on the simulation test scenario parsing, is specifically configured to:
determining the position information of the vehicle dynamics model in a high-precision map in the simulation test scene according to the current vehicle positioning information of the vehicle dynamics model in the simulation test scene;
and determining high-precision map road network information associated with the position information according to the map topological connection relation of the high-precision map.
In some embodiments, the data parsing module, in terms of being configured to send the simulation information to the controller under test, is specifically configured to:
carrying out protocol processing on the simulation information according to a preset transmission protocol to obtain processed simulation information, wherein the preset transmission protocol is determined based on the transmission protocol of the controller to be tested;
and sending the processed simulation information to the controller to be tested.
In some of these embodiments, the predetermined transmission protocol comprises the ADASIS V3 protocol.
In some of these embodiments, the simulation information further includes the vehicle positioning information, and the data parsing module, before being configured to determine the position information of the vehicle dynamics model in the high-precision map in the simulation test scenario according to the vehicle positioning information of the vehicle dynamics model currently in the simulation test scenario, is further configured to: and analyzing the simulation test scene to obtain the vehicle positioning information.
In some embodiments, the simulation test scenes include static scenes such as roads, transportation facilities and buildings, and dynamic scenes such as pedestrians and other vehicles.
In a second aspect, in this embodiment, an intelligent driving simulation testing method is provided, where the method is applied to a data analysis module in the intelligent driving simulation testing system according to the first aspect, and the method includes:
acquiring a simulation test scene, wherein the simulation test scene is built based on a high-precision map;
analyzing to obtain simulation information based on the simulation test scene, wherein the simulation information at least comprises high-precision map road network information;
and sending the simulation information to a controller to be tested of the intelligent driving simulation test system so that the controller to be tested generates a vehicle control instruction according to the simulation information.
In a third aspect, in this embodiment, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the intelligent driving simulation testing method of the second aspect is implemented.
In a fourth aspect, in the present embodiment, there is provided a storage medium having stored thereon a computer program which, when executed by a processor, implements the intelligent driving simulation test method of the second aspect described above.
Compared with the related art, the intelligent driving simulation test system, the method, the electronic device and the storage medium provided in the embodiment construct the simulation test scene based on the high-precision map through the scene simulation module, and send the simulation test scene to the data analysis module, the data analysis module is in communication connection with the scene simulation module, and is used for receiving the simulation test scene, obtaining the high-precision map road network information based on the simulation test scene analysis, and sending the high-precision map road network information to the controller to be tested, so that the high-precision map road network information obtained by the controller to be tested is the original high-precision map road network information in the simulation test scene, but not the road network information obtained by various sensing devices, the distortion of the road network information obtained by the sensing devices is effectively avoided, the consistency of the high-precision map road network information obtained by the controller to be tested and the high-precision map road network information in the simulation test scene is ensured, the accuracy of the high-precision map road network information acquired by the controller to be tested is improved, further, the controller to be tested generates a vehicle control instruction according to the received high-precision map road network information, so that the controller to be tested generates the vehicle control instruction according to the accurate high-precision map road network information, the accuracy of the vehicle control instruction is improved, the vehicle control instruction is further transmitted to the scene simulation module, a vehicle dynamics model in the scene simulation module is subjected to simulation test in a simulation test scene according to the accurate vehicle control instruction, and the reliability of the simulation test of the vehicle dynamics model is improved.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a block diagram of a structure of an intelligent driving simulation test system according to an embodiment of the present application.
Fig. 2 is a block diagram of another structure of an intelligent driving simulation test system according to an embodiment of the present application.
Fig. 3 is a flowchart of an intelligent driving simulation test method according to an embodiment of the present application.
Fig. 4 is a block diagram of a hardware structure of a terminal of an intelligent driving simulation test method according to an embodiment of the present application.
Detailed Description
For a clearer understanding of the objects, aspects and advantages of the present application, reference is made to the following description and accompanying drawings.
Unless defined otherwise, technical or scientific terms referred to herein shall have the same general meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The use of the terms "a" and "an" and "the" and similar referents in the context of this application do not denote a limitation of quantity, either in the singular or the plural. The terms "comprises," "comprising," "has," "having," and any variations thereof, as referred to in this application, are intended to cover non-exclusive inclusions; for example, a process, method, and system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or modules, but may include other steps or modules (elements) not listed or inherent to such process, method, article, or apparatus. Reference in this application to "connected," "coupled," and the like is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference to "a plurality" in this application means two or more. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. In general, the character "/" indicates a relationship in which the objects associated before and after are an "or". Reference in the present application to the terms "first," "second," "third," etc., merely distinguish between similar objects and do not denote a particular order or importance to the objects.
With the continuous development of intelligent driving technology, the precision requirements of various advanced intelligent driving functions of the vehicle on the information of the road environment are gradually improved, the high-precision map can provide centimeter-level quantization degree, can accurately describe the road information such as the shape, the number of lanes, the gradient, the curvature, the course and the heeling of each lane, and is the basis for realizing advanced intelligent driving of the vehicle.
During the development of various advanced intelligent driving functions, a large number of vehicle tests are required to verify the feasibility of links between high-precision maps and various advanced intelligent driving function algorithms. At present, in a simulation test aiming at advanced intelligent driving functions, sensing data or video streams of sensing equipment in an intelligent driving virtual scene are mostly led into an intelligent driving controller, and further the intelligent driving controller obtains road network information according to the received sensing data or video streams so as to perform the simulation test.
Therefore, how to improve the reliability of the advanced intelligent driving simulation test based on the high-precision map is a problem to be solved.
In this embodiment, an intelligent driving simulation test system is further provided, fig. 1 is a structural block diagram of the intelligent driving simulation test system provided in the embodiment of the present application, and the intelligent driving simulation test system shown in fig. 1 includes: the system comprises a scene simulation module 110, a data analysis module 120 and a controller to be tested 130.
The scene simulation module 110 is configured to build a simulation test scene based on the high-precision map, and send the simulation test scene to the data analysis module 120.
Illustratively, the scene simulation module 110 may be scene simulation software, which obtains high-precision map data in a real scene, and the user builds a high-precision map in a simulation test scene in the scene simulation software based on the high-precision map data in the real scene, and builds other static scenes, such as buildings, trees, and the like, in the simulation test scene according to test requirements.
Further, a dynamic scene in the simulation test scene, such as a dynamic scene of the vehicle dynamics model 111, pedestrians, animals, other vehicles, etc., is built according to the test requirement, and a planned path of the vehicle dynamics model 111 is set in the simulation test scene, specifically, the vehicle dynamics model 111 may be built through Matlab, Simulink, or Vedyna software, and the built vehicle dynamics model 111 is introduced into the scene simulation module 110.
As another embodiment, the high-precision map in the simulation test scene may also be automatically generated by the scene simulation software, specifically, the scene simulation software acquires the high-precision map in the real scene, performs format conversion on the high-precision map in the real scene, for example, converts the format into an OpenDrive map format, and introduces the format-converted high-precision map into the scene simulation software, so that the scene simulation software automatically constructs the high-precision map in the simulation test scene.
It should be noted that the scene simulation software may be any one of VTD and SCANeR, and may also be other scene simulation software, which is not limited herein.
Further, the scene simulation module 110 runs the built simulation test scene and sends the running simulation test scene to the data analysis module 120 through the ethernet.
As another embodiment, after the scenario simulation module 110 runs the built simulation test scenario, the running simulation test scenario and the planned path of the vehicle dynamics model 111 are sent to the data analysis module 120 through the ethernet.
The data analysis module 120 is communicatively connected to the scene simulation module 110, and is configured to receive a simulation test scene, obtain simulation information based on the simulation test scene analysis, and send the simulation information to the controller under test 130, where the simulation information at least includes high-precision map network information.
The data analysis module 120 is in communication connection with the scene simulation module 110, receives the simulation test scene sent by the scene simulation module 110, analyzes the simulation test scene to obtain simulation information, where the simulation information at least includes high-precision map network information in the simulation scene, and further sends the simulation information obtained by analysis to the controller 130 to be tested.
As another embodiment, after obtaining the simulation information, the data analysis module 120 sends the simulation information and the planned path of the vehicle dynamics model 111 to the controller under test 130.
The controller to be tested 130 is in communication connection with the data analysis module 120 and the scene simulation module 110, and is configured to receive simulation information sent by the data analysis module 120, generate a vehicle control instruction based on the received simulation information, and transmit the vehicle control instruction to the scene simulation module 110.
For example, the Controller 130 to be tested may be a Controller of an Advanced Driver Assistance System (ADAS), and the Controller 130 to be tested is respectively in communication connection with the data analysis module 120 and the scene simulation module 110, and is configured to receive simulation information sent by the data analysis module 120, generate a vehicle control instruction according to the simulation information, and further send the vehicle control instruction to the vehicle dynamics model 111 in the scene simulation module 110 through a Controller Area Network (CAN).
As another example, the controller under test 130 generates vehicle control instructions based on the received simulation information and the planned path of the vehicle dynamics model 111.
The scene simulation module 110 includes a vehicle dynamics model 111, and the vehicle dynamics model 111 is used for performing simulation tests in a simulation test scene according to vehicle control instructions.
Illustratively, the scene simulation module 110 includes a vehicle dynamics model 111, and the vehicle dynamics model 111 receives a vehicle control instruction sent by the controller under test 130 and performs a simulation test in a simulation test scene according to the vehicle control instruction.
In the implementation process, the data analysis module analyzes the simulation test scene to obtain high-precision map network information in the simulation test scene, and further sends the high-precision map network information to the controller to be tested, so that the high-precision map network information obtained by the controller to be tested is consistent with the high-precision map network information in the simulation test scene, the precision of the high-precision map network information obtained by the controller to be tested is ensured, the distortion of the network information obtained by the sensing equipment is effectively avoided, further, the controller to be tested generates a vehicle control instruction according to the high-precision map network information, the accuracy of the vehicle control instruction generated by the controller to be tested is improved, further, the controller to be tested sends the vehicle control instruction to a vehicle dynamics model in the scene simulation module, so that the vehicle dynamics model performs simulation test in the simulation test scene according to the vehicle control instruction, the closed-loop test of the intelligent driving simulation test system is realized, and the vehicle dynamics model carries out simulation test according to the accurate vehicle control instruction, so that the reliability of the simulation test is improved.
In some embodiments, the scene simulation module 110 further includes a vehicle posture determination unit and a display unit, where the vehicle posture determination unit is connected in communication with the vehicle dynamics model 111, and is configured to determine, in real time, vehicle posture information of the vehicle dynamics model 111 during a simulation test in a simulation test scene, and send the vehicle posture information to the display unit.
Illustratively, the scene simulation module 110 may further include a vehicle attitude determination unit, which is connected to the vehicle dynamics model 111 in a communication manner, and is capable of determining vehicle attitude information in real time according to a motion state of the vehicle dynamics model 111 during a simulation test in a simulation test scene, and further sending the vehicle attitude information to the display unit.
The display unit is in communication connection with the vehicle attitude determination unit and is used for receiving vehicle attitude information and displaying a simulation test result in a simulation test scene according to the vehicle attitude information, wherein the simulation test result is used for representing the feasibility of a functional algorithm of the controller to be tested 130 in a high-precision map.
Further, the display unit is in communication connection with the vehicle attitude determination unit, receives the vehicle attitude information sent by the vehicle attitude determination unit, and further renders the real-time vehicle attitude information in a vehicle dynamics model in a simulation test scene, so that a simulation test result is displayed in real time.
In the implementation process, the vehicle attitude determination unit acquires real-time attitude information of the vehicle dynamics model and sends the real-time attitude information to the display unit, so that the display unit displays the real-time attitude of the vehicle dynamics model in a simulation test scene, and a simulation test result is visualized.
In some embodiments, the data parsing module 120 is specifically configured to perform the following steps in terms of obtaining simulation information based on simulation test scenario parsing:
step 1: and determining the position information of the vehicle dynamics model 111 in a high-precision map in the simulation test scene according to the vehicle positioning information of the vehicle dynamics model 111 in the simulation test scene.
And 2, step: and determining high-precision map road network information associated with the position information according to the map topological connection relation of the high-precision map.
For example, the scene simulation module 110 analyzes the current simulation test scene to obtain the current vehicle positioning information of the vehicle dynamics model 111 in the simulation test scene, and further, when the scene simulation module 110 sends the simulation test scene to the data analysis module 120, the current vehicle positioning information of the vehicle dynamics model 111 in the simulation test scene is sent to the data analysis module 120, so that the data analysis module 120 obtains the current vehicle positioning information of the vehicle dynamics model 111 in the simulation test scene.
As another example, after the scene simulation module 110 sends the simulation test scene to the data analysis module 120, the data analysis module 120 itself analyzes the acquired current simulation test scene to obtain the vehicle positioning information of the vehicle dynamics model 111 in the current simulation test scene.
Further, the data analysis module 120 matches the vehicle positioning information of the vehicle dynamics model 111 currently in the simulation test scene to the high-precision map in the current simulation test scene, so as to determine the position information of the vehicle dynamics model 111 in the high-precision map in the simulation test scene.
Specifically, the data analysis module 120 matches the vehicle positioning information of the vehicle dynamics model 111 currently in the simulation test scene to the high-precision map in the current simulation test scene according to the coordinate conversion relationship between the simulation test scene and the high-precision map in the simulation test scene, so as to determine the position information of the vehicle dynamics model 111 in the high-precision map in the simulation test scene.
Further, high-precision map road network information related to the periphery of the position information, such as information of red road lamps, ground arrows, road types, lane lines, lane widths, lane curvatures, distances of vehicles from the lane lines, signboards and the like, is determined according to the map topological connection relation of the high-precision map.
It should be noted that the map topological connection relationship of the high-precision map may be sent to the data analysis module 120 after the scene simulation module 110 constructs the high-precision map scene, or may be obtained by analyzing the high-precision map of the real scene by the data analysis module 120, which is not limited herein.
In the implementation process, the data analysis module 120 determines the position information of the vehicle dynamics model 111 in the high-precision map according to the positioning information of the vehicle dynamics model in the simulation scene, and further obtains the high-precision map network information related to the position information according to the map topology connection relationship of the high-precision map, thereby implementing the analysis of the simulation test scene.
In some embodiments, the data parsing module 120 is specifically configured to execute the following steps in sending the simulation information to the controller under test 130:
step 1: and performing protocol processing on the simulation information according to a preset transmission protocol, which is determined based on the transmission protocol of the controller 130 to be tested, to obtain the processed simulation information.
Step 2: the processed simulation information is sent to the controller under test 130.
For example, after the data parsing module 120 parses the simulation test scenario to obtain the simulation information, the simulation information is repackaged according to the preset transmission protocol and sent to the controller under test 130.
It should be noted that the controller to be tested 130 may be an ADAS controller, and the ADAS controller has a standard transmission protocol, such as ADASIS, so that the preset transmission protocol is determined according to the transmission protocol of the controller to be tested 130, and data transmission between the data analysis module and the controller to be tested can be implemented.
In the implementation process, a preset transmission protocol is determined according to the controller to be tested, and the simulation information is subjected to protocol processing according to the preset transmission protocol, so that the transmission of the simulation information between the data analysis module and the controller to be tested is realized.
In some of these embodiments, the predetermined transmission protocol comprises the ADASIS V3 protocol.
It should be noted that, in the embodiment of the present application, only the ADASIS V3 protocol is taken as an example for description, in practical applications, the preset transmission protocol may also be ADASIS V1, ADASIS V2, or other protocols, and communication between the data analysis module and the controller to be tested may be implemented.
As an embodiment, the data parsing module 120 may include a parsing unit and a coding unit, the parsing unit is in communication connection with the scene simulation module 110, and is configured to receive the simulation test scene, parse the simulation test scene to obtain simulation information, and send the simulation information to the coding unit, the coding unit is in communication connection with the parsing unit and the controller to be tested 130, respectively, the coding unit receives the simulation information sent by the parsing unit, and codes the simulation information according to a preset transmission protocol to obtain coded simulation information, where the preset transmission protocol is determined based on a transmission protocol of the controller to be tested 130.
The controller 130 to be tested may include a decoding unit and a control unit, the decoding unit is in communication connection with the encoding unit and the control unit, respectively, the encoding unit sends the encoded simulation information to the decoding unit after obtaining the encoded simulation information, further, the decoding unit decodes the encoded simulation information according to a preset transmission protocol to obtain the simulation information and store the simulation information, further, the decoding unit sends the simulation information to the control unit, and the control unit generates a vehicle control instruction according to the received simulation information.
Specifically, the encoding unit may be an electronic Horizon Provider (AHP), the decoding unit may be an electronic Horizon Reconstructor (AHR), the control unit may be an ADAS ECU, the AHP obtains the simulation information, serializes the simulation information according to an ADASIS V3, sends the serialized simulation information to the AHR, the AHR deserializes the serialized simulation information, stores the simulation information, and further, the ADAS ECU generates the vehicle control command according to the simulation information stored by the AHR.
In some embodiments, the simulation information further includes vehicle positioning information, and the data parsing module 120, before being configured to determine the position information of the vehicle dynamics model 111 in the high-precision map in the simulation test scenario according to the vehicle positioning information of the vehicle dynamics model 111 currently in the simulation test scenario, is further configured to: and analyzing the simulation test scene to obtain vehicle positioning information.
Illustratively, the simulation information further includes vehicle positioning information, and the data analysis module 120 is specifically configured to analyze the received simulation test scenario to obtain the vehicle positioning information, further determine high-precision map network information according to the vehicle positioning information, and further send the high-precision map network information and the vehicle positioning information to the controller 130 to be tested.
In the implementation process, the data analysis module analyzes the received simulation test scene to obtain vehicle positioning information, and high-precision map network information can be further conveniently obtained according to the positioning information.
In some embodiments, the simulation test scenarios include static scenarios such as roads, transportation facilities, buildings, and the like, and dynamic scenarios such as pedestrians, other vehicles, and the like.
As an embodiment, fig. 2 is a block diagram of another structure of an intelligent driving simulation testing system provided in an embodiment of the present application, and the intelligent driving simulation testing system shown in fig. 2 includes: the system comprises a scene simulation module 110, a data analysis module 120, a controller under test 130 and a vehicle dynamics model 111, wherein the scene simulation module 110 comprises a simulated vehicle 112.
The scene simulation module 110 is configured to build a simulation test scene based on the high-precision map, where the simulation test scene includes the simulation vehicle 112, and send the simulation test scene to the data analysis module 120.
The functions and embodiments of the data analysis module 120 and the controller under test 130 are the same as those in fig. 1, and are not repeated herein, the controller under test 130 is in communication connection with the vehicle dynamics model 111, after the controller under test 130 generates a vehicle control command, the vehicle control command is sent to the vehicle dynamics model 111, further, the vehicle dynamics model 111 updates the current vehicle attitude information according to the vehicle control command and outputs the updated vehicle attitude information in real time, the vehicle dynamics model 111 is in communication connection with the simulated vehicle 112, the vehicle dynamics model 111 sends the updated vehicle attitude information to the simulated vehicle 112 in real time through the ethernet, further, the simulated vehicle 112 receives the updated vehicle attitude information in real time and operates according to the received vehicle attitude information, further, the operating state of the simulated vehicle 112 is displayed in real time in a simulation test scene, therefore, the simulation test result is displayed in real time in the simulation test scene.
In the implementation process, the simulation test scene is analyzed through the data analysis module, so that high-precision map road network information in the simulation test scene is obtained, the high-precision map road network information is further subjected to protocol processing according to a transmission protocol of the controller to be tested, and the processed high-precision map road network information is sent to the controller to be tested, so that the precision of the road network information obtained by the controller to be tested is improved, further, the controller to be tested generates a vehicle control instruction according to the high-precision map road network information and sends the vehicle control instruction to the vehicle dynamics model, so that the vehicle dynamics model performs simulation test according to the vehicle control instruction, and the reliability of the vehicle dynamics model simulation test is improved.
It should be noted that the above modules may be functional modules or program modules, and may be implemented by software or hardware. For a module implemented by hardware, the modules may be located in the same processor; or the modules may be located in different processors in any combination.
In this embodiment, an intelligent driving simulation testing method is provided, fig. 3 is a flowchart of the intelligent driving simulation testing method provided in the embodiment of the present application, and the intelligent driving simulation testing method shown in fig. 3 is applied to the data analysis module shown in fig. 1 or fig. 2, and the flowchart includes the following steps:
step S301: and acquiring a simulation test scene.
The simulation test scene is built based on a high-precision map.
Illustratively, the simulation test scene is built by a scene simulation module in the intelligent driving simulation test system based on a high-precision map, and the built simulation test scene is sent to the data analysis module, so that the data analysis module acquires the simulation test scene.
Step S302: and analyzing based on the simulation test scene to obtain simulation information.
The simulation information at least includes high-precision map network information.
Illustratively, the simulation test scene comprises a vehicle dynamic model, the data analysis module analyzes the simulation test scene to obtain vehicle positioning information of the vehicle dynamic model in the simulation test scene, further, the data analysis module determines position information of the vehicle dynamic model in a high-precision map in the simulation test scene according to the vehicle positioning information, further, the data analysis module determines high-precision map network information associated with the position information according to a map topological connection relation of the high-precision map, wherein the high-precision map topological connection relation is stored in the data analysis module in advance.
Further, the data analysis module performs protocol processing on the high-precision map network information according to a preset transmission protocol to obtain the processed high-precision map network information. The preset transmission protocol is determined according to a controller to be tested of the intelligent driving simulation test system.
Step S303: and sending the simulation information to a controller to be tested of the intelligent driving simulation test system so that the controller to be tested generates a vehicle control instruction according to the simulation information.
Illustratively, the data analysis module sends the processed high-precision map road network information to the controller to be tested, so that the controller to be tested receives the processed high-precision map road network information and generates a vehicle control command according to the high-precision map road network information.
It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than here.
There is also provided in this embodiment an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
The method embodiments provided in the present embodiment may be executed in a terminal, a computer, or a similar computing device. Such as a mobile terminal, a fixed terminal, or a portable terminal, such as a mobile handset, station, unit, device, multimedia computer, multimedia tablet, internet node, communicator, desktop computer, laptop computer, notebook computer, netbook computer, tablet computer, personal communication system device, personal navigation device, personal digital assistant, audio/video player, digital camera/camcorder, positioning device, television receiver, radio broadcast receiver, electronic book device, game device, or any combination thereof, including the accessories and peripherals of these devices, or any combination thereof.
Fig. 4 is a block diagram of a hardware structure of a terminal of an intelligent driving simulation test method according to an embodiment of the present application. As shown in fig. 4, the terminal may include one or more processors 401 (only one is shown in fig. 4) and a memory 402, wherein the processor 401 may include, but is not limited to, a processing device such as a central processing unit CPU, a microprocessor MCU, or a programmable logic device FPGA, the memory 402 may include a read only memory ROM and/or a random access memory RAM, and the processor 401 may perform various suitable actions and processes according to computer program instructions stored in the ROM or computer program instructions loaded into the RAM from the storage unit 407. In the RAM, various programs and data required for the operation of the terminal may also be stored. The processor 401 and the memory 402 are connected to each other by a bus 403. An input/output interface 404 is also connected to the bus 403.
A number of components in the terminal are connected to the input/output interface 404, including: an input unit 405 such as a keyboard, a mouse, and a touch panel; an output unit 406 such as various types of displays, speakers, and the like; a storage unit 407, such as a magnetic disk, optical disk, or the like; and a communication unit 408 such as a network card, modem, wireless communication transceiver, etc. The communication unit 408 allows the terminal to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The various processes and processes of the method embodiments provided in this embodiment may be performed by processor 401. For example, in some embodiments, the methods provided in the present embodiments may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 407. In some embodiments, part or all of the computer program may be loaded and/or installed on the terminal via the ROM and/or the communication unit 408. The steps of the method provided in the present embodiment may be performed when the computer program is loaded into the RAM and executed by the CPU.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
and S1, acquiring a simulation test scene.
And S2, analyzing to obtain simulation information based on the simulation test scene.
And S3, sending the simulation information to a controller to be tested of the intelligent driving simulation test system, so that the controller to be tested generates a vehicle control instruction according to the simulation information.
It should be noted that, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments and optional implementations, and details are not described again in this embodiment.
In addition, in combination with the intelligent driving simulation test method provided in the above embodiment, a storage medium may also be provided in this embodiment to implement the method. The storage medium having stored thereon a computer program; the computer program, when executed by a processor, implements any of the intelligent driving simulation testing methods of the above embodiments.
It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to be limiting. All other embodiments, which can be derived by a person skilled in the art from the examples provided herein without any inventive step, shall fall within the scope of protection of the present application.
It is obvious that the drawings are only examples or embodiments of the present application, and it is obvious to those skilled in the art that the present application can be applied to other similar cases according to the drawings without creative efforts. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
The term "embodiment" is used herein to mean that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is to be expressly or implicitly understood by one of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the patent protection. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (10)
1. An intelligent driving simulation test system, comprising: a scene simulation module, a data analysis module and a controller to be tested,
the scene simulation module is used for building a simulation test scene based on the high-precision map and sending the simulation test scene to the data analysis module;
the data analysis module is in communication connection with the scene simulation module and is used for receiving the simulation test scene, analyzing the simulation test scene to obtain simulation information and sending the simulation information to the controller to be tested, wherein the simulation information at least comprises high-precision map network information;
the controller to be tested is in communication connection with the data analysis module and the scene simulation module, and is used for receiving the simulation information sent by the data analysis module, generating a vehicle control instruction based on the received simulation information, and transmitting the vehicle control instruction to the scene simulation module;
the scene simulation module comprises a vehicle dynamics model, and the vehicle dynamics model is used for carrying out simulation test in the simulation test scene according to the vehicle control command.
2. The intelligent driving simulation test system according to claim 1, wherein the scene simulation module further comprises a vehicle attitude determination unit and a display unit,
the vehicle attitude determination unit is in communication connection with the vehicle dynamics model and is used for determining vehicle attitude information of the vehicle dynamics model during simulation test in the simulation test scene in real time and sending the vehicle attitude information to the display unit;
the display unit is in communication connection with the vehicle attitude determination unit and is used for receiving the vehicle attitude information and displaying a simulation test result in the simulation test scene according to the vehicle attitude information, wherein the simulation test result is used for representing the feasibility of a functional algorithm of the controller to be tested in a high-precision map.
3. The intelligent driving simulation test system according to claim 1 or 2, wherein the data analysis module, in terms of being configured to obtain simulation information based on the simulation test scenario analysis, is specifically configured to:
determining the position information of the vehicle dynamics model in a high-precision map in the simulation test scene according to the current vehicle positioning information of the vehicle dynamics model in the simulation test scene;
and determining high-precision map road network information associated with the position information according to the map topological connection relation of the high-precision map.
4. The intelligent driving simulation test system according to claim 1 or 2, wherein the data analysis module, in terms of being configured to send the simulation information to the controller under test, is specifically configured to:
carrying out protocol processing on the simulation information according to a preset transmission protocol to obtain processed simulation information, wherein the preset transmission protocol is determined based on the transmission protocol of the controller to be tested;
and sending the processed simulation information to the controller to be tested.
5. The intelligent driving simulation test system of claim 4, wherein the preset transmission protocol comprises the ADASIS V3 protocol.
6. The intelligent driving simulation test system according to claim 3, wherein the simulation information further includes the vehicle positioning information, and the data parsing module, before being configured to determine the position information of the vehicle dynamics model in the high-precision map in the simulation test scenario according to the vehicle positioning information of the vehicle dynamics model currently in the simulation test scenario, is further configured to: and analyzing the simulation test scene to obtain the vehicle positioning information.
7. The intelligent driving simulation test system according to claim 1 or 2, wherein the simulation test scenes comprise static scenes such as roads, transportation facilities and buildings, and dynamic scenes such as pedestrians and other vehicles.
8. An intelligent driving simulation testing method is applied to a data analysis module in the intelligent driving simulation testing system according to any one of the above items 1 to 7, and the method comprises the following steps:
acquiring a simulation test scene, wherein the simulation test scene is built based on a high-precision map;
analyzing to obtain simulation information based on the simulation test scene, wherein the simulation information at least comprises high-precision map road network information;
and sending the simulation information to a controller to be tested of the intelligent driving simulation test system so that the controller to be tested generates a vehicle control instruction according to the simulation information.
9. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is configured to execute the computer program to perform the intelligent driving simulation test method of claim 8.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the intelligent driving simulation test method of claim 8.
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Cited By (3)
| 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 |
| CN115617703A (en) * | 2022-12-20 | 2023-01-17 | 北京赛目科技股份有限公司 | Method, device, system, equipment and storage medium for vehicle simulation test |
| WO2024117564A1 (en) * | 2022-12-02 | 2024-06-06 | 주식회사 모라이 | Scenario-based autonomous driving vehicle simulation method and system |
-
2022
- 2022-03-30 CN CN202210322728.0A patent/CN114660956A/en active Pending
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 |
| WO2024117564A1 (en) * | 2022-12-02 | 2024-06-06 | 주식회사 모라이 | Scenario-based autonomous driving vehicle simulation method and system |
| CN115617703A (en) * | 2022-12-20 | 2023-01-17 | 北京赛目科技股份有限公司 | Method, device, system, equipment and storage medium for vehicle simulation test |
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