CN115292923A - Automatic parking trajectory evaluation method and system based on scene library - Google Patents
Automatic parking trajectory evaluation method and system based on scene library Download PDFInfo
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- CN115292923A CN115292923A CN202210900360.1A CN202210900360A CN115292923A CN 115292923 A CN115292923 A CN 115292923A CN 202210900360 A CN202210900360 A CN 202210900360A CN 115292923 A CN115292923 A CN 115292923A
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- 238000011161 development Methods 0.000 description 3
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- G06F30/20—Design optimisation, verification or simulation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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Abstract
The invention relates to an automatic parking track evaluation method and system based on a scene library, which comprises the following steps: creating a parking scene and generating a scene library file; selecting at least one parking scene from the scene library and calling at least one planning algorithm from the algorithm library to generate parking track information under the selected parking scene; and generating a track evaluation report according to the parking track information, and respectively evaluating the quality of the track generated by the planning algorithm and the performance of the planning algorithm. The invention can generate a multidimensional quantitative and visual track evaluation report, can quickly mine the blind area of the planning algorithm and promote the continuous improvement of the planning algorithm.
Description
Technical Field
The invention relates to the technical field of automatic parking, in particular to an automatic parking track evaluation method and system based on a scene library.
Background
The core of the automatic parking function comprises sensing, fusion, decision planning, control and the like of sensor data. Whether the track generated by the decision planning algorithm meets the requirements of vehicle dynamics, traffic rules, safety, performance and the like influences the final parking effect.
In the iterative development process of the planning algorithm, the parking scene needs to be subjected to track simulation evaluation tests for multiple times, and a track evaluation report generated by the track simulation evaluation tests can quickly mine a blind area of the planning algorithm and promote continuous improvement of the planning algorithm. How to evaluate the quality of the generated track of the planning algorithm does not have quantitative evaluation criteria at present. The track generated by real vehicle test evaluation planning has the defects of incomplete test, long test period, high cost and the like.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a planning algorithm on-board simulation evaluation scheme which is simple and convenient to operate, comprehensive in test and high in efficiency. The generated multidimensional quantitative and visual track evaluation report can quickly mine the blind area of the planning algorithm and promote the continuous improvement of the planning algorithm.
The technical scheme for solving the technical problems is as follows:
in a first aspect, the present invention provides a scene library-based automatic parking trajectory evaluation method, including:
creating a parking scene and generating a scene library file;
selecting at least one parking scene from the scene library and calling at least one planning algorithm from the algorithm library to generate parking track information under the selected parking scene;
and generating a track evaluation report according to the parking track information, and respectively evaluating the quality of the track generated by the planning algorithm and the performance of the planning algorithm.
Further, the evaluating the quality of the track generated by the planning algorithm comprises: and evaluating safety, comfort and efficiency according to the parking track information.
Further, the evaluation items of the safety include collision detection, a maximum angle and a safety distance.
Further, the comfort evaluation items comprise whether the curvature is suddenly changed, the maximum angular speed of the track, smooth vehicle speed and acceleration and deceleration.
Further, the efficiency evaluation items comprise track library kneading times and track theoretical parking time.
Further, evaluating the performance of the planning algorithm includes: evaluation was made from the trajectory planning time and the endpoint deviation.
Further, the method further comprises: and comparing track generation results of the same planning algorithm in different parking scenes or track generation results of different planning algorithms in the same parking scene, and evaluating the parking tracks.
In a second aspect, the present invention further provides an automatic parking trajectory evaluation system based on a scene library, including:
the scene library creating module is used for creating a parking scene and generating a scene library file;
the planning algorithm library module is used for storing various parking planning algorithm programs;
the planning simulation evaluation module is used for selecting at least one parking scene from the scene library and calling at least one planning algorithm from the algorithm library to generate parking track information under the selected parking scene; and the system is also used for generating a track evaluation report according to the parking track information, and respectively evaluating the track quality generated by a planning algorithm and the performance of the planning algorithm.
In a third aspect, the present invention also provides an electronic device, including:
a memory for storing a computer software program;
and the processor is used for reading and executing the computer software program, so as to further realize the automatic parking trajectory evaluation method based on the scene library in the first aspect of the invention.
In a fourth aspect, the present invention is further a non-transitory computer-readable storage medium, where a computer software program for implementing the method for evaluating an automatic parking trajectory based on a scene library according to the first aspect of the present invention is stored in the storage medium.
The invention has the beneficial effects that: the invention can test one scene and a plurality of scenes in batch, thereby improving the flexibility of the test. And quantitative and visual track evaluation reports generated by batch tests greatly shorten the time for evaluating the function and performance of the planning algorithm. The generated track is subjected to real-time simulation, and the difference between the generated track and the optimal track can be intuitively known. The visual configuration of the vehicle parameters can facilitate the user and evaluate the track generation conditions of different vehicles. The iterative development of the planning algorithm can be subjected to a regressive track simulation evaluation test, the comparison of versions in the same row can quickly know the advantages and disadvantages of the planning algorithms of different solutions in the same row, and the generated track evaluation report can quickly mine the blind area of the planning algorithm and promote the continuous improvement of the planning algorithm.
Drawings
Fig. 1 is a block diagram of an automatic parking trajectory evaluation system based on a scene library according to an embodiment of the present invention;
fig. 2 is a flowchart of an automatic parking trajectory evaluation method based on a scene library according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an embodiment of an electronic device according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an embodiment of a computer-readable storage medium provided in an embodiment of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth to illustrate, but are not to be construed to limit the scope of the invention.
As shown in fig. 1, an embodiment of the present invention provides an automatic parking trajectory evaluation system based on a scene library, including:
the scene library creating module is used for generating an Opendriver and OpenScenario scene library file by using the parking scene created by the VTD software;
the planning algorithm library module is used for storing various parking planning algorithm programs;
the planning simulation evaluation module is used for selecting at least one parking scene from the scene library and calling at least one planning algorithm from the algorithm library to generate parking track information under the selected parking scene; and the system is also used for generating a track evaluation report according to the parking track information and respectively evaluating the quality of the track generated by the planning algorithm and the performance of the planning algorithm.
The planning simulation evaluation module comprises the following sub-functional modules:
scene import: importing a directory of a scene library simulation case set;
scene selection: one parking scene or a plurality of parking scenes can be selected;
scene simulation: selecting a parking scene, calling a planning algorithm library to generate track information, and displaying the track generated by the planning algorithm and the historical optimal track in real time by simulating the scene information in an interface visualization way;
report generation: selecting different starting point coordinates for each scene, calling a planning algorithm library for multiple times, evaluating the generated track according to a track evaluation project, updating a historical optimal track, and outputting a quantitative and visual track evaluation report;
and (4) viewing a report: opening the generated track evaluation report, and checking the track evaluation result;
vehicle parameter configuration: visually configuring information such as axle length, wheel base, vehicle length, vehicle width, transmission ratio, front suspension distance, rear suspension distance and minimum turning radius of the vehicle;
history comparison: the method comprises the following steps of comparing the same-row versions and the historical versions, wherein the same-row version comparison is used for comparing the test results of the track planning algorithms of different solutions, and the historical version comparison is used for comparing different versions of the same planning algorithm.
Based on the system, the invention further provides an automatic parking trajectory evaluation method based on the scene library, as shown in fig. 2, including:
creating a parking scene and generating a scene library file;
selecting at least one parking scene from the scene library and calling at least one planning algorithm from the algorithm library to generate parking track information under the selected parking scene;
and generating a track evaluation report according to the parking track information, and respectively evaluating the quality of the track generated by the planning algorithm and the performance of the planning algorithm.
Further, the evaluating the quality of the track generated by the planning algorithm comprises: and evaluating safety, comfort and efficiency according to the parking track information.
Further, the evaluation items of the safety include collision detection, a maximum angle and a safety distance.
Further, the comfort evaluation items comprise whether the curvature is suddenly changed, the maximum angular speed of the track, the vehicle speed smoothness and the acceleration and deceleration.
Further, the evaluation items of the efficiency comprise the number of times of kneading the garage of the track and the track theoretical parking time.
Further, evaluating the performance of the planning algorithm includes: evaluation was made from the trajectory planning time and the endpoint deviation.
Further, the method further comprises: and comparing the track generation results of the same planning algorithm in different parking scenes or the track generation results of different planning algorithms in the same parking scene, and evaluating the parking tracks.
The invention can test one scene and a plurality of scenes in batch, thereby improving the flexibility of the test. The quantitative and visual track evaluation report generated by batch test greatly shortens the time for evaluating the function and performance of the planning algorithm. The generated track is subjected to real-time simulation, and the difference between the generated track and the optimal track can be intuitively known. The visual configuration of the vehicle parameters can facilitate the user and evaluate the track generation conditions of different vehicles. The regression trajectory simulation evaluation test can be carried out on the iterative development of the planning algorithm, the comparison of versions in the same row can quickly know the advantages and disadvantages of the planning algorithms of different solutions in the same row, and the generated trajectory evaluation report can quickly dig the blind area of the planning algorithm and promote the continuous improvement of the planning algorithm.
Referring to fig. 3, fig. 3 is a schematic diagram of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 3, an embodiment of the present invention provides an electronic device 500, which includes a memory 510, a processor 520, and a computer program 511 stored in the memory 520 and executable on the processor 520, wherein the processor 520 executes the computer program 511 to implement the following steps:
creating a parking scene and generating a scene library file;
selecting at least one parking scene from the scene library and calling at least one planning algorithm from the algorithm library to generate parking track information under the selected parking scene;
and generating a track evaluation report according to the parking track information, and evaluating the quality of the track generated by the planning algorithm and the performance of the planning algorithm respectively.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating an embodiment of a computer-readable storage medium according to the present invention. As shown in fig. 4, the present embodiment provides a computer-readable storage medium 600, on which a computer program 611 is stored, the computer program 611 implementing the following steps when executed by a processor:
creating a parking scene and generating a scene library file;
selecting at least one parking scene from the scene library and calling at least one planning algorithm from the algorithm library to generate parking track information under the selected parking scene;
and generating a track evaluation report according to the parking track information, and respectively evaluating the quality of the track generated by the planning algorithm and the performance of the planning algorithm.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. An automatic parking trajectory evaluation method based on a scene library is characterized by comprising the following steps:
creating a parking scene and generating a scene library file;
selecting at least one parking scene from the scene library and calling at least one planning algorithm from the algorithm library to generate parking track information under the selected parking scene;
and generating a track evaluation report according to the parking track information, and respectively evaluating the quality of the track generated by the planning algorithm and the performance of the planning algorithm.
2. The method of claim 1, wherein evaluating the goodness of the trajectory generated by the planning algorithm comprises: and evaluating safety, comfort and efficiency according to the parking track information.
3. The method according to claim 2, wherein the evaluation items of safety include collision detection, maximum angle, safety distance.
4. The method according to claim 2, wherein the comfort evaluation items include whether the curvature is abrupt, the maximum angular velocity of the trajectory, vehicle speed smoothing, and acceleration and deceleration.
5. The method according to claim 2, wherein the efficiency evaluation items include track library number and track theoretical parking time.
6. The method of claim 1, wherein evaluating performance of a planning algorithm comprises: evaluation was made from the trajectory planning time and the endpoint deviation.
7. The method of claim 1, further comprising: and comparing track generation results of the same planning algorithm in different parking scenes or track generation results of different planning algorithms in the same parking scene, and evaluating the parking tracks.
8. An automatic parking trajectory evaluation system based on a scene library is characterized by comprising:
the scene library creating module is used for creating a parking scene and generating a scene library file;
the planning algorithm library module is used for storing various parking planning algorithm programs;
the planning simulation evaluation module is used for selecting at least one parking scene from the scene library and calling at least one planning algorithm from the algorithm library to generate parking track information under the selected parking scene; and the system is also used for generating a track evaluation report according to the parking track information and respectively evaluating the quality of the track generated by the planning algorithm and the performance of the planning algorithm.
9. An electronic device, comprising:
a memory for storing a computer software program;
a processor for reading and executing the computer software program to implement the method for evaluating an automatic parking trajectory based on a scene library according to any one of claims 1 to 7.
10. A non-transitory computer-readable storage medium, wherein a computer software program for implementing the method for evaluating an automatic parking trajectory based on a scene library according to any one of claims 1 to 7 is stored in the storage medium.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210900360.1A CN115292923A (en) | 2022-07-28 | 2022-07-28 | Automatic parking trajectory evaluation method and system based on scene library |
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| CN202210900360.1A CN115292923A (en) | 2022-07-28 | 2022-07-28 | Automatic parking trajectory evaluation method and system based on scene library |
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| CN115292923A true CN115292923A (en) | 2022-11-04 |
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| CN202210900360.1A Pending CN115292923A (en) | 2022-07-28 | 2022-07-28 | Automatic parking trajectory evaluation method and system based on scene library |
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