CN115309074A - Automatic driving simulation test method and device, simulation equipment and storage medium - Google Patents
Automatic driving simulation test method and device, simulation equipment and storage medium Download PDFInfo
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Abstract
An automatic driving simulation test method, an automatic driving simulation test device, simulation equipment and a storage medium relate to the field of automatic driving. The simulation device comprises a scene design module, a dynamics debugging module, a simulation module, a communication module and a debugging module, wherein the scene design module and the dynamics debugging module are respectively connected with the simulation module, and the simulation module is connected with the debugging module based on the communication module. The method can verify the development condition of the automatic driving system in advance before real vehicle test, can greatly accelerate the algorithm verification speed, shorten the development period, realize rapid iterative development, reduce the investment of hardware equipment and reduce the verification cost. Further, the simulation process can be adjusted based on some complex working condition scenes during real automatic driving to achieve excellent automatic driving strain capacity.
Description
Technical Field
The invention belongs to the technical field of automatic driving, and particularly relates to an automatic driving simulation test method, an automatic driving simulation test device, simulation equipment and a storage medium.
Background
The current society has become the development direction of the future automobile industry, the automatic driving technology is not mature at present, a large number of real vehicle road tests are generally carried out in the industry for ensuring the safety and stability of the automatic driving vehicle, but the automatic driving algorithm and the automatic driving system need to be subjected to full simulation test verification before the real vehicle road tests.
An automatic driving automobile is an automobile which can realize unmanned driving through an intelligent controller, and intelligent driving is still in a technical iteration period, so that complete unmanned driving cannot be realized, but limited automatic driving is realized. To realize unmanned driving, the technical problems in the automobile fields such as high-precision maps, sensor fusion, artificial intelligence, cloud computing and information security are solved, all parts of automatic driving form an industrial chain, and the problem that the industrial chain on the upstream and downstream of the automatic driving automobile is incomplete is solved.
According to the current situation in the field of automatic driving, limited automatic driving is realized firstly for realizing unmanned driving, and in order to ensure the safety and reliability of an automatic driving system, the algorithm of automatic driving is usually verified through real vehicle testing, but some scenes are difficult to build a field, and some scenes are easy to cause traffic accidents, so that the problem that the scenes are difficult to build can be solved by adopting a simulation verification mode, and the testing cost is greatly reduced. However, the existing simulation process is usually a set of fixed flow, and cannot be adjusted based on simulation of some complex working condition scenes during real automatic driving, for example, scenes such as starting after the vehicle passes n seconds are required.
Disclosure of Invention
The purpose of the invention is: the method, the device, the simulation equipment and the storage medium are used for solving the problem that the existing simulation test cannot simulate and adjust complex working conditions.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
in a first aspect, an embodiment of the present application provides an automatic driving simulation testing method, which is applied to a simulation device, where the simulation device includes a scene design module, a dynamics debugging module, a simulation module, a communication module, and a debugging module, the scene design module and the dynamics debugging module are respectively connected to the simulation module, the simulation module is connected to the debugging module based on the communication module, and the method includes:
s1: building a simulation scene based on the scene design module;
s2: building a dynamic model based on the dynamic debugging module;
s3: building a simulation model in the simulation platform based on the simulation scene and the dynamic model;
s4: performing integration verification on the simulation model based on the communication module and the debugging module;
s5: and designing a test case and carrying out simulation operation based on the simulation model.
With reference to the first aspect, in some optional embodiments, the simulation scenario includes an internal environment including vehicles, roads, and pedestrians, and an external environment including map data, scenario data, and traffic accident data.
With reference to the first aspect, in some optional embodiments, the dynamic model comprises vehicle performance indicators and vehicle power parameters, the vehicle performance indicators comprise vehicle acceleration, vehicle deceleration and vehicle response parameters, and the vehicle power parameters comprise: a suspension characteristic parameter. Engine speed torque parameters, transmission ratio of the transmission, steering ratio and gear shifting strategy of the transmission.
With reference to the first aspect, in some optional embodiments, the test case includes a start signal, an input signal, an observation signal, and an output signal, the observation signal is used to verify the start signal after the input signal is achieved, and the output signal can be transmitted only when the start signal passes the verification.
With reference to the first aspect, in some optional embodiments, the debugging module may be capable of adjusting the simulation model generated by the simulation module when the input signal is added to the test case.
In a second aspect, an embodiment of the present application provides an autopilot simulation testing device, which is applied to simulation equipment, the simulation equipment includes a scene design module, a dynamics debugging module, a simulation module, a communication module, and a debugging module, the scene design module and the dynamics debugging module are respectively connected to the simulation module, the simulation module is based on the communication module is connected to the debugging module, the device includes:
scene unit: building a simulation scene based on the scene design module;
a power unit: building a dynamics model based on the dynamics debugging module;
a simulation unit: building a simulation model in the simulation module based on the simulation scene and the dynamic model;
a verification unit: performing integration verification on the simulation model based on the communication module and the debugging module;
an operation unit: and designing a test case and carrying out simulation operation based on the simulation model.
With reference to the second aspect, in some optional embodiments, the scenario unit is coupled to the scenario design module, the power unit is coupled to the dynamics debugging module, the simulation unit is coupled to the simulation module, the verification unit is coupled to the communication module, and the execution unit is coupled to the debugging module.
In a third aspect, an embodiment of the present application provides a simulation device, where the simulation device includes a scene design module, a dynamics debugging module, a simulation module, a communication module, a debugging module, and a storage module, where the scene design module and the dynamics debugging module are respectively connected to the simulation module, the simulation module is connected to the debugging module based on the communication module, and a computer program is stored in the storage module, and when the computer program is executed by the simulation module, the simulation device is enabled to execute the method.
In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program runs on a computer, the computer program causes the computer to execute the method described above.
The invention adopting the technical scheme has the advantages that:
the method can perform simulation test on the algorithm of the automatic driving system before the actual road test, wherein the simulation test comprises the simulation of the transverse control effect of the vehicle, the simulation of the longitudinal control effect of the vehicle and the simulation test verification of the functional logic of the system. The invention can verify the development condition of the advanced automatic driving system in advance before the real vehicle test, can greatly accelerate the algorithm verification speed, shorten the development period, realize the rapid iterative development, reduce the hardware equipment investment and reduce the verification cost. Further, the simulation process can be adjusted based on simulation of some complex working condition scenes during real automatic driving, so that excellent automatic driving strain capacity is achieved.
Drawings
The invention is further illustrated by the non-limiting examples given in the accompanying drawings;
FIG. 1 is a schematic structural diagram of an automatic driving simulation testing apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the design principle of the test case of the present invention.
The main element symbols are as follows:
100: a scene design module; 200 a dynamics debugging module; 300: a simulation module; 400: a communication module; 500: a debugging module; 600: a scene unit; 700: a power unit; 800: a simulation unit; 900: a verification unit; 1000: and operating the unit.
Detailed Description
The present invention will be described in detail with reference to the drawings and specific embodiments, wherein like reference numerals are used for similar or identical parts in the drawings or the description, and implementations not shown or described in the drawings are known to those of ordinary skill in the art. In addition, directional terms, such as "upper", "lower", "top", "bottom", "left", "right", "front", "rear", and the like, used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present invention.
As shown in fig. 1, the simulation apparatus of the present invention includes a scene design module 100, a dynamics debugging module 200, a simulation module 300, a communication module 400, a debugging module 500, and a storage module, wherein the scene design module 100 and the dynamics debugging module 200 are respectively connected to the simulation module 400, and the simulation module 300 is connected to the debugging module 500 based on the communication module 400.
In the embodiment of the present application, the scene design module 100 may be commercial software Prescan, and is used to build a simulation scene required during vehicle simulation. The simulation scene constructed by the scene design module 100 includes elements of external environments such as roads, vehicles, pedestrians and other traffic participants, and the elements interact with the simulation module 300 based on Prescan. The scene design module 100 stores a model library and a GUI image interface, and the scene design module 100 can also introduce scene data from the outside to enrich the simulation scene library.
The simulation module 300 is configured to integrate the simulation scene built by the scene design module 100 and the dynamics model built by the dynamics debugging module 200 to complete the building of the simulation model, where the simulation model at least includes the simulation scene and the dynamics model. The simulation module 300 is an important component of the autopilot system and is used to adapt to the entire test environment, which may also be referred to as a simulation test environment. Preferably, the simulation test platform built by Simulink is used for building and adapting all simulation environments according to test contents, and the limited automatic driving algorithm is fully verified and tested in an operation range through the simulation test environments.
The communication module 400, which is configured for communication based on the CAN bus protocol in the present application, is used for data interaction of the whole system, mainly for communication between a platform and an algorithm, and data CAN form a closed loop in the whole system after communication configuration is successful. The debugging module 500, the simulation test platform software framework is mainly based on Matlab/Simulink to integrate the Prescan simulation software and the CarSim dynamic model into the simulation environment required by the whole test;
the storage module stores therein a computer program that, when executed by the simulation module 300, enables the management apparatus to perform the corresponding steps in the automated driving simulation test method described below.
Referring to fig. 1 and fig. 2, an embodiment of the present application provides an automatic driving simulation test method. The automatic driving simulation test method comprises the following steps:
s1: constructing a simulation scene based on the scene design module 100;
s2: building a dynamics model based on the dynamics debugging module 200;
s3: building a simulation model in the simulation platform 300 based on the simulation scene and the dynamic model;
s4: performing integration verification on the simulation model based on the communication module 400 and the debugging module 500;
s5: and designing a test case and giving the simulation model for simulation operation.
In step S1, the simulation scene constructed by the scene design module 100 includes elements of external environments such as roads, vehicles, pedestrians, and other traffic participants. Specifically, the construction of the simulation scene by using the scene design module comprises two parts.
Firstly, scene construction can be carried out through a GUI graphical interface and a model base, and the combination of the models mainly comprises four parts, namely a Roads model, an Environment model, a Roads users and Weather and light Weather illumination. The construction of the scenes mainly aims at the specific scene construction according to the system function requirements. The construction design of the scene can be targeted, for example, a car following scene, a cut-in scene, a lane departure event or a parking scene model, and has the advantages that the scene is easy to design, the requirement on single scene parameters is low, the test coverage of functional requirements can be met, meanwhile, on the basis of the design of the scene, some basic key parameters, such as the traffic participant type vehicleTypes, the speed of a tested vehicle, the speed of a target vehicle, the distance relative position of the target vehicle and the tested vehicle, and the like, are superposed and combined, in addition, key points defined by a traffic target based on behaviors need to be considered, namely, the distribution of parameter ranges and samples is determined on the basis of the functional requirements of the system through the path setting of the tested vehicle (the speed of the vehicle, the fixed path of a limited target), and the setting Trigger of a target event (when the tested vehicle reaches a certain point, a specific event is triggered to realize the test of the target scene), and the selection of the parameters and the representative characteristic behaviors are selected, and finally, the good equidistant discretization of continuous parameters is realized by using a box to form a complex working condition for the system functional test.
And secondly, enriching the simulation scene library by importing external scene data, wherein the simulation scene library can be mainly obtained by OpenDRIVE high-precision map data, openSCENARIO scene data and CIDAS Chinese traffic accident data which are all open scene data sources in Prescan, and scene design sources supplement under more complicated working conditions can be enriched by the scene data which are effectively demonstrated to have test values.
In step S2, a dynamics model is built based on the dynamics debugging module 200. Specifically, the power commissioning module 200 commissions the vehicle performance indicators mentioned in the requirements, such as vehicle acceleration, vehicle deceleration, and other key parameters of the vehicle that affect the vehicle response, requiring the establishment of a parameterized vehicle dynamics model. Vehicle dynamic parameters such as physical attributes of a vehicle body, a suspension characteristic curve, an engine rotating speed torque curve, a transmission ratio of a gearbox, a gear shifting strategy of the gearbox, a steering ratio and the like need to be considered, and vehicle performance indexes required by the system are met through establishment of a vehicle dynamic model of the parameters. The main reason for using Carsim is that Carsim has a standard Matlab/Simulink interface, can conveniently perform joint simulation with Matlab/Simulink for developing a control algorithm, and can generate a large amount of data results during simulation test, and the data results can be used for analyzing or visualizing failed test cases by using Matlab or Excel after the test is completed.
In step S3, a simulation model is built in the simulation platform 300 based on the simulation scenario and the dynamic model. The simulation module 300 is an important component of an autopilot system and is used to adapt to the entire test environment, which may also be referred to as a simulation test environment. And the simulation model built by the simulation module is used for building parameters required by each simulation environment according to the simulation test content: simulation scenarios, dynamic models, air composition, gas flow, etc. Preferably, the simulation test platform built by Simulink is used for building and adapting all simulation environments according to test contents, and the limited automatic driving algorithm is fully verified and tested in an operation range through the simulation test environments.
In step S4, the simulation model is integrated and verified based on the communication module 400 and the debugging module 500. The communication module 400 can check whether the communication of the whole simulation model is distorted or not, and whether the interaction delay time between data meets the requirements of the system requirements or not, if the requirements cannot be met, the simulation model needs to be rebuilt.
In step S5, a test case is designed and simulation operation is performed based on the simulation model. Designing a test case requires adding a start signal, an input signal, an observation signal, and an output signal. The observation signal consists in verifying the start signal after the input signal is fulfilled, the output signal being transmitted only if the start signal passes the verification.
In particular for the test conditions, i.e. the signals output in the test case. First there is an initial condition step1 to achieve the test environment required for the test case, the initial condition typically being "apparent vehicle speed is xxkph and system state is activatable" since the desired test condition should be steady-state, less intrusive, and easily reproducible. The vehicle speed is characterized by status =1 to reach the expected vehicle speed xxkph, the vehicle speed has reached a steady state at a constant speed (the vehicle speed fluctuates no more than the expected vehicle speed ± 3kph up and down), the acceleration acc _ accel is within a threshold range (no more than 2m/ss as defined by ODC), and the distance to the front vehicle is constant. By this signal, the preparation of the initial condition of the test can be completed more quickly by integrating the pre-states required before the test starts. Then, for the problem that there is an observation signal in the middle of the step, which is generally needed to consider that the fixed point data cannot be calculated, the signal needs to be converted, such as lanonearrightind _ Crl-lanonearrightind _ Crl, which is the fixed point data, cannot be operated in MATLAB script, error is reported at runtime, and the same meaning can be expressed by using linearleftind 0+ lineearrightind 0 and inverting the signal. The judgment condition is mainly the observation condition of the last step, is used as a condition for verifying whether the test case passes through the whole test step, and is a function verification signal extracted based on the system function requirement.
In the execution operation, the values of some signals required to be given in the simulation of the rule are mainly filled, namely the signals required to be input. For example, after the system under test has satisfied the initial condition status =1, the system activation signal sys _ active =1 of the vehicle under test is set in the vehicle control end, and whether the output state value status changes after the subsequent observation condition is observed. Except for the assignment of values to the signals in the algorithm under test. In the intermediate step, the scene working condition designed in the above step can be modified by a test script based on Matlab language. When a similar scene that the front vehicle needs to start after n seconds appears in the test case, the motion state of the front vehicle cannot be known from the front vehicle during the scene construction, and the scene cannot be effectively covered in the working condition scene design stage, so that the front vehicle can be controlled to start after the time meeting the observation condition is judged in the test script, and the construction of the scene working condition simulation test environment can be completed by executing the operation RV _ Control =1 through the test script.
The embodiment of the application provides an automatic driving simulation test device, which comprises at least one software function module which is stored in a storage module in the form of software or Firmware or is solidified in an Operating System (OS) in a management device. The simulation module 300 is used for executing executable modules stored in the storage module, such as software function modules and computer program modules included in the autopilot simulation test module.
The autopilot simulation test module includes a scenario unit 600, a power unit 700, a simulation unit 800, a verification unit 900, and an operation unit 1000. The scene unit 600 is coupled to the scene design module 100. The power unit 700 is coupled to the dynamics commissioning module 200. The simulation unit 800 is coupled to the simulation module 300. The authentication unit 900 is coupled to the communication module 400. Execution unit 1000 is coupled to debug module 500. The functions that each unit has may be as follows:
a scene unit 600 for building a simulation scene based on the scene design module (100);
the power unit 700 builds a dynamic model based on the dynamic debugging module (200);
a simulation unit 800 for building a simulation model in the simulation platform (300) based on the simulation scenario and the dynamic model;
the verification unit 900 is used for performing integrated verification on the simulation model based on the communication module (400) and the debugging module (500);
and the operation unit 1000 is used for designing a test case and carrying out simulation operation based on the simulation model.
In this embodiment, the storage module may be, but is not limited to, a random access memory, a read only memory, a programmable read only memory, an erasable programmable read only memory, an electrically erasable programmable read only memory, and the like. In this embodiment, the storage module may be used to store the internal environment and the external environment in the scene design module 100, and the like. Of course, the storage module may also be used to store a program, and the processing module executes the program after receiving the execution instruction.
It is understood that the structure of the management device shown in fig. 1 is only a schematic structure, and the management device may further include more components than those shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
It should be noted that, as will be clear to those skilled in the art, for convenience and brevity of description, the integration process, the debugging process and the modeling process of the simulation module 300 described above may refer to the corresponding processes of the steps in the foregoing method, and will not be described in detail herein.
The embodiment of the application also provides a computer readable storage medium. The computer-readable storage medium has stored therein a computer program which, when run on a computer, causes the computer to execute the automated driving simulation test method as described in the above embodiments.
From the above description of the embodiments, it is clear to those skilled in the art that the present application can be implemented by hardware, or by software plus a necessary general hardware platform, and based on such understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.), and includes several instructions to enable a computer device (which can be a personal computer, an emulation device, or a network device, etc.) to execute the method described in the embodiments of the present application.
In summary, the embodiments of the present application provide an automatic driving simulation test method, an automatic driving simulation test device, a simulation apparatus, and a storage medium. In the scheme, the method comprises the following steps: the method comprises the following steps of model algorithm development, simulation platform construction, simulation test environment construction and debugging, and simulation test case and simulation test result statistics. Based on the scheme, the method can perform simulation test on the algorithm of the automatic driving system before the actual road test, wherein the simulation test comprises the simulation of the transverse control effect of the vehicle, the simulation of the longitudinal control effect of the vehicle and the simulation test verification of the functional logic of the system. The invention can verify the development condition of the advanced automatic driving system in advance before the real vehicle test, can greatly accelerate the algorithm verification speed, shorten the development period, realize the rapid iterative development, reduce the investment of hardware equipment and reduce the verification cost. Furthermore, the simulation process can be adjusted based on simulation of some complex working condition scenes in real automatic driving so as to achieve excellent automatic driving response capability.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus, system, and method may be implemented in other ways. The apparatus, system, and method embodiments described above are illustrative only, as the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (9)
1. An automatic driving simulation test method is applied to simulation equipment, the simulation equipment comprises a scene design module (100), a dynamics debugging module (200), a simulation module (300), a communication module (400) and a debugging module (500), the scene design module (100) and the dynamics debugging module (200) are respectively connected with the simulation module (300), the simulation module (300) is connected with the debugging module (500) based on the communication module (400), and the method comprises the following steps:
s1: building a simulation scene based on the scene design module (100);
s2: building a dynamics model based on the dynamics debugging module (200);
s3: building a simulation model within the simulation module (300) based on the simulation scenario and the kinetic model;
s4: performing integrated verification on the simulation model based on the communication module (400) and the debugging module (500);
s5: and designing a test case and carrying out simulation operation based on the simulation model.
2. The simulation test method of claim 1, wherein the simulation scenario includes an internal environment including vehicles, roads, and pedestrians, and an external environment including map data, scenario data, and traffic accident data.
3. The simulation test method of claim 1, wherein the kinetic model comprises vehicle performance indicators and vehicle dynamics parameters, the vehicle new performance indicators comprise vehicle acceleration, vehicle deceleration, and vehicle response parameters, the vehicle dynamics parameters comprising: a suspension characteristic parameter. Engine speed torque parameters, transmission ratio of the transmission, steering ratio and gear shifting strategy of the transmission.
4. The simulation test method of claim 1, wherein the test case comprises a start signal, an input signal, an observation signal and an output signal, the observation signal is used for verifying the start signal after the input signal is achieved, and the output signal can be transmitted only when the start signal passes the verification.
5. The simulation testing method of claim 4, wherein the debugging module (500) is capable of adjusting the simulation model generated by the simulation module (300) when the input signal is added to the test case.
6. An automatic driving simulation testing device is applied to simulation equipment, the simulation equipment comprises a scene design module (100), a dynamics debugging module (200), a simulation module (300), a communication module (400) and a debugging module (500), the scene design module (100) and the dynamics debugging module (200) are respectively connected with the simulation module (300), the simulation module (300) is connected with the debugging module (500) based on the communication module (400), and the device comprises:
scene unit (600): building a simulation scene based on the scene design module (100);
power unit (700): building a dynamics model based on the dynamics debugging module (200);
simulation unit (800): building a simulation model within the simulation platform (300) based on the simulation scenario and the kinetic model;
verification unit (900): performing integrated verification on the simulation model based on the communication module (400) and the debugging module (500);
operating unit (1000): and designing a test case and carrying out simulation operation based on the simulation model.
7. The simulation test apparatus according to claim 6, wherein the scenario unit (600) is coupled to the scenario design module (100), the power unit (700) is coupled to the dynamics commissioning module (200), the simulation unit (800) is coupled to the simulation module (300), the verification unit (900) is coupled to the communication module (400), and the execution unit (1000) is coupled to the commissioning module (500).
8. Simulation device, characterized in that it comprises a scenario design module (100), a dynamics debugging module (200), a simulation module (300), a communication module (400), a debugging module (500) and a storage module, said scenario design module (100) and said dynamics debugging module (200) being respectively connected with said simulation module (300), said simulation module (300) being connected with said debugging module (500) based on said communication module (400), said storage module having stored therein a computer program which, when executed by said simulation module (300), causes said simulation device to perform the method according to any one of claims 1-5.
9. A computer-readable storage medium, in which a computer program is stored which, when run on a computer, causes the computer to perform the method of any one of claims 1-5.
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| CN116187101A (en) * | 2023-04-26 | 2023-05-30 | 深圳佑驾创新科技有限公司 | Verification method for constructing EHP (Ethernet Passive optical network) based on Prescan |
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| CN116187101A (en) * | 2023-04-26 | 2023-05-30 | 深圳佑驾创新科技有限公司 | Verification method for constructing EHP (Ethernet Passive optical network) based on Prescan |
| CN116187101B (en) * | 2023-04-26 | 2023-07-04 | 深圳佑驾创新科技有限公司 | Verification method for constructing EHP (Ethernet Passive optical network) based on Prescan |
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