CN115906539A - System for realizing automatic driving simulation based on Django - Google Patents
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Abstract
The invention provides a system for realizing automatic driving simulation based on Django, which comprises a front-end user interface unit, a rear-end logic processing unit and a data management unit, wherein the front-end user interface unit is used for displaying simulation data interaction between a Web client and a server through a browser, the rear-end logic processing unit is used for receiving a user instruction transmitted by the front-end user interface unit and calling a simulation kernel and then extracting database simulation data to return to the front-end user interface unit, a user can easily operate at the client through a Web page, data and functions are processed at a server, so that the centralized management and version iteration of simulation test resources are facilitated, meanwhile, the advantages of a Django framework are fully utilized, the automatic driving simulation flow is analyzed, a MySQL is adopted to construct a database management system, HTML, CSS and JavaScript are used to construct a system interface, data visualization is carried out by Echarts, and three-dimensional display is constructed by using three.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a system for realizing automatic driving simulation based on Django.
Background
In the development process of the automatic driving function, the automatic driving function is often required to be subjected to simulation verification testing in advance so as to reduce problems in the real vehicle testing process and avoid the occurrence of risk conditions. The existing automatic driving simulation software mostly runs in a single computer, and a single computer has certain requirements on hardware. However, because the number and complexity of the test scenes of the automatic driving are exponentially increased, a large number of virtual simulation tests and evaluations of the automatic driving automobiles need to be completed, and if a plurality of high-performance computers are used for simulation at the same time, a large amount of manpower and material resources are needed for support.
The automatic driving cloud simulation is a technology for combining a cloud computing technology and an automatic driving simulation technology and performing automatic driving simulation at a cloud end. The platform does not use a C/S (client/server) architecture mode applied by a traditional simulation platform, a more convenient B/S (browser/server) architecture mode is adopted, simulation personnel can complete IP login and behavior management in a Web form through a Web page, simulation data is uploaded and downloaded, a database can be accessed through a server, data and algorithms can be randomly called, and real-time simulation is carried out.
Most of simulation systems used in the existing automatic driving industry belong to C/S (client/server) architectures, and when a large amount of simulation is carried out, the environment needs to be repeatedly deployed, so that manpower and material resources are consumed. A few B/S architecture simulation platforms are based on java written SpringBoot as a back-end framework, but the SpringBoot is used as the back-end framework, so that the B/S architecture simulation platforms have the defects of long development period and large development resource investment. A back-end solution for small items, short cycles, and low investment is lacking. And because the data structures of all the development mechanisms of the automatic driving simulation are inconsistent, the mechanism simulation has the emphasis and independent development requirements. Therefore we have devised an autopilot simulation system implemented in the Django framework to solve this problem.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a system for realizing automatic driving simulation based on Django, which can solve the problems of low test efficiency and large consumption of manpower and material resources in the existing automatic driving simulation technology, aiming at the defects of the technical scheme.
The invention provides a system for realizing automatic driving simulation based on Django, which comprises: the Web client-side simulation system comprises a front-end user interface unit, a rear-end logic processing unit and a data management unit, wherein the front-end user interface unit is used for displaying simulation data interaction between a Web client-side and a server through a browser, the rear-end logic processing unit is used for receiving a user instruction transmitted by the front-end user interface unit, calling a simulation kernel and then extracting database simulation data and returning the database simulation data to the front-end user interface unit, the data management unit is used for operating a corresponding simulation data table according to request data of the rear-end logic processing unit and then returning the result to the rear-end logic processing unit, the rear-end logic processing unit comprises a user management module, a case library module, a resource library module, a task management module and an information statistics module, the user management module is used for creating a user login account, the case library module is used for creating simulation test cases by a user or importing existing test cases, the resource library module is used for displaying dynamic model parameters, sensor model parameters, controller parameters, road parameters and main vehicle model parameters which can be selected by the user, the Web task management module is used for analyzing, displaying and replaying simulation results which are downloaded by the simulation cases and displaying the case information of the cases and displaying the visualization data by the Ects of the database according to the user log-on the client-side.
In the system for realizing automatic driving simulation based on Django, the user logs in an account and enters a case library module and creates a simulation test case, or an existing test case file is imported, and the created cases are displayed in a list form at a Web client after the new creation of the cases is completed, wherein the content of the list comprises an ID, a name, a scene, a map, a description and an operation bar, the operation bar comprises an operation button, an editing button and a deletion button, the user operates, deletes or modifies the cases by clicking the operation button, the editing button and the deletion button, and the cases enter the task management module after the operation is completed.
In the system for realizing automatic driving simulation based on Django, a new case and an import case are also arranged on the list, when the import case is clicked, the import case is refreshed from the case library list after a local xml file is selected, and when the new case is clicked to enter the resource library module, parameters of a display case in the resource library module are default simulation parameters; and clicking the import case, and then entering the resource library module to display the simulation parameters of the import case.
In the system for realizing automatic driving simulation based on Django, the user selects to create a case, enters a resource library module after the selection is finished, selects an opencererio file, edits scene parameters and uploads the case, runs the case after the resource library module displays the uploaded case, and enters a task management module after the running is finished.
In the Django-based system for realizing automatic driving simulation, the scene parameter editing comprises dynamic model parameter editing, sensor parameter editing, controller parameter editing, road parameter editing and main vehicle model parameter editing.
In the system for realizing automatic driving simulation based on Django, the resource library module is also provided with an upload, download and default simulation parameter button, when the upload button is clicked, a local json file is uploaded, the resource library module refreshes the uploaded simulation parameters, when the download button is clicked, the rear-end logic processing unit reads the simulation parameters in the current resource library module, stores the simulation parameters as the json file and downloads the simulation parameters to the local, and when the default parameter button is clicked, the resource library module refreshes the default simulation parameters of the system.
In the system for realizing automatic driving simulation based on Django, when a user enters a resource library module, if default simulation parameters are clicked, default simulation parameters provided by the system are selected, if locally stored json format simulation parameter files are clicked and uploaded, if dynamic model parameter edition, sensor parameter edition, controller parameter edition, road parameter edition and main vehicle model parameter edition are sequentially filled in the resource library module, an opencerario file used in simulation is selected, after all the parameters are selected, the stored parameters are clicked, an openmeridian road associated with an opencerario is visually opened, a 2D road surface model is displayed when the road parameter edition is clicked, and a 3D vehicle model rendered by thread.
In the system for realizing automatic driving simulation based on Django, the task management module is provided with a button for displaying the name, ID, test completion, start time, end time, video playback and download report, when the video playback button is clicked, the video playback plays back the simulation process generated by the rear-end logic processing unit, and when the download report button is clicked, the simulation data in CSV format is downloaded.
In the system for realizing automatic driving simulation based on Django, the information statistical module displays the test quantity line graphs of each time segment and each simulation model in a classified manner according to all user completed cases stored in a current database, and when the simulation data is selected to be uploaded, the CSV file is uploaded, and the information statistical module refreshes the simulation data into the uploaded simulation data graph.
In the system for realizing automatic driving simulation based on Django, when a user selects the start of simulation, the data set by the simulation scene is obtained, the simulated road surface data is obtained according to opencerario-associated opencerarive files, the initial pose information and the behavior track of a main vehicle and a traffic participant are obtained according to opencerario, meanwhile, the calculation is carried out according to a controller algorithm of the vehicle to obtain a control signal, each module of the main vehicle is simulated according to the control signal and the pose information of the vehicle body, the state information of the vehicle is calculated, the state information of the vehicle and the dynamic model data of the vehicle are calculated to obtain the dynamic response quantity of the main vehicle, the pose information of the vehicle body is calculated and updated in real time according to the response, the data are integrated, the pose information of all the main vehicle is output in time sequence to obtain the simulation data result, finally, the pose information of all traffic flows output in time sequence is compared with the pose information of the traffic flows judged and set, if the set requirements are not met, the simulation result is judged to fail, and the traffic flows are judged to pass.
The system for realizing automatic driving simulation based on Django can realize that a user can easily operate at a client through a Web page, data and functions are processed at a server, centralized management and version iteration of simulation test resources are facilitated, the advantages of a Django framework are fully utilized, an automatic driving simulation process is analyzed, a MySQL database management system is adopted, system interfaces are constructed by using HTML, CSS and JavaScript, data visualization is carried out by using Echarts, and three-dimensional display is constructed by using three-dimensional images.
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FIG. 1 is a flow chart of a system for implementing automatic driving simulation based on Django according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1, there is provided a system for implementing automatic driving simulation based on Django, the system comprising: the system comprises a front-end user interface unit, a rear-end logic processing unit and a data management unit, wherein the front-end user interface unit is used for displaying simulation data interaction between a Web client and a server through a browser, the rear-end logic processing unit is used for receiving a user instruction transmitted by the front-end user interface unit and calling a simulation kernel to extract database simulation data and returning the database simulation data to the front-end user interface unit, the data management unit is used for operating a corresponding simulation data table according to request data of the rear-end logic processing unit and then returning the result to the rear-end logic processing unit, the rear-end logic processing unit comprises a user management module, a case library module, a resource library module, a task management module and an information statistics module, the user management module is used for creating a user login account number, the case library module is used for creating simulation test cases through the resource library module or importing existing test cases, the resource library module is used for displaying dynamic model parameters, sensor model parameters, controller parameters, road parameters and main vehicle model parameters which can be selected by a user, the task management module is used for analyzing, displaying and downloading simulation results of cases which are simulated by the user at a client, and the case statistics module is used for displaying cases through playback information and displaying the Ects of cases and displaying the Eccase usage chart according to the case usage information of the database.
In one embodiment, a user logs in an account to enter a case library module and create a simulation test case, or an existing test case file is imported, the created case is displayed in a list form at a Web client after the case is created, wherein the content of the list comprises an ID, a name, a scene, a map, a description and an operation bar, the operation bar comprises an operation button, an editing button and a deletion button, the user operates, deletes or modifies the case by clicking the operation button, the editing button and the deletion button, and the case enters a task management module after the operation is completed.
In one embodiment, the list is further provided with a new case and an import case, when the import case is clicked, the case library list refreshes the import case after the local xml file is selected, and when the new case is clicked to enter the resource library module, parameters of a display case in the resource library module are default simulation parameters; and clicking the import case, and then entering the resource library module to display the simulation parameters of the import case.
In one embodiment, a user selects a case to be created, enters the resource library module after the selection is completed, selects an opencenario file, edits scene parameters and uploads the case, runs the case after the resource library module displays the uploaded case, and enters the task management module after the running is completed.
In one embodiment, the scene parameter editing includes kinetic model parameter editing, sensor parameter editing, controller parameter editing, road parameter editing, and host vehicle model parameter editing.
In one embodiment, the resource library module is further provided with an upload, download and default simulation parameter button, when the upload button is clicked, a local json file is uploaded, the resource library module refreshes the uploaded simulation parameters, when the download button is clicked, the rear-end logic processing unit reads the simulation parameters in the current resource library module, stores the simulation parameters as the json file and downloads the json file to the local, and when the default parameter button is clicked, the resource library module refreshes the simulation parameters as system default simulation parameters.
In one embodiment, when a user enters a resource library module, if a default simulation parameter is clicked, the default simulation parameter provided by a system is selected, if a locally-stored json-format simulation parameter file is clicked and uploaded, if a dynamic model parameter edition, a sensor parameter edition, a controller parameter edition, a road parameter edition and a main vehicle model parameter edition are sequentially filled in the resource library module, an opencerario file used in simulation is selected, after all the parameters are selected, the storage parameter is clicked, the vehicle model and an opencerious road associated with opencerario are visually opened, a 2D road model is displayed when the road parameter edition is clicked, and a 3D vehicle model rendered by three.
In one embodiment, the task management module is provided with a button for displaying the name, the ID, the test completion, the start time, the end time, the video playback and the download report of the test case, when the video playback button is clicked, the video playback plays back the simulation process generated by the back-end logic processing unit, and when the download report button is clicked, the simulation data in the CSV format is downloaded.
In one embodiment, the information statistics module classifies and displays the test quantity line graph of each time period and each simulation model according to all user completed cases stored in the current database, and when the simulation data is selected to be uploaded, the CSV file is uploaded, and the information statistics module refreshes the test quantity line graph into a graph of the uploaded simulation data.
In one embodiment, when a user selects simulation start, data set by the simulation scene is obtained, simulated road surface data is obtained according to opencerario-associated opencerario files, initial pose information and behavior tracks of a host vehicle and traffic participants are obtained according to opencerario, meanwhile, a control signal is obtained through calculation according to a controller algorithm of the vehicle, each module of the host vehicle is simulated according to the control signal and the vehicle pose information, the state information of the vehicle is calculated, the vehicle state information and the vehicle dynamics model data are calculated to obtain the dynamics response quantity of the host vehicle, the vehicle pose information is calculated and updated in real time according to response, the data are integrated, the pose information of all traffic flows is output according to time sequence to obtain a simulation data result, and finally, the pose information of all traffic flows output according to time sequence is compared with the pose information of the traffic flows set according to judgment, if the pose information does not meet the judgment setting requirement, the simulation result is judged to fail, and if the simulation result meets the judgment, the simulation result passes the judgment.
Django is an open-source Web application framework written by Python language, and compared with other languages in the mainstream of Web development, the Python language is more suitable for data interaction with an automatic driving simulation program and has a shorter development period. By using the Django framework, a developer can complete most of contents required by a formal website only by a small amount of codes, and further develop a development mode of a full-function Web service Django based on MVT, namely a Model (Model) + View (View) + Template design mode, and the MVT mode simplifies the subsequent modification and expansion of a program, so that an automatic driving simulation program can be deployed quickly.
Specifically, the system is based on a Web client architecture mode, an automatic driving simulation kernel is fused with an MVT model of Django, so that a user can create a simulation scene at the Web client, select/upload simulation resources, and perform a complete simulation flow of result preview/download after a task is run. The system makes full use of the advantages of the Django framework. By analyzing the automatic driving simulation flow, the MySQL is adopted to construct a database management system, a system interface is constructed by using HTML, CSS and JavaScript, echarts is used for data visualization, and three. As a preferred scheme of the invention, a front-end user interface unit list of the system is developed based on a Bootstrap tool, 3D display of a vehicle model is developed based on a three. The above tools are all realized to integrate and develop with Django framework.
Specifically, the back-end data management unit of the system is developed based on a model-view-template MVT model architecture of a Django framework. The simulation kernel is integrated into view (view module) of the MVT model in an executable program mode, calls/incoming data are transmitted by using a python related library, and multi-user use is supported by using a thread pool queue mode.
Specifically, the Django architecture can directly create a database module from a client to a server by adopting a Django admin command, and create a plurality of data interaction management modules according to the database module in a one-to-many mode. The database content is implemented by means of the method create provided by objects provided by the ORM.
The front-end user interface unit uses a Bootstrap frame with a response type layout characteristic as a template, the database uses MySQL, the chart display uses Echarts, and the three-dimensional display of the webpage is realized by using thread. The simulation kernel carries out thread interaction with the view through python in the form of an executable program.
The user accesses the URL in the browser, and the URL of the system receives the corresponding view function matched in URL. If no data calls are involved, then at this point the view function returns a web page directly to the user where the entire page is first presented using HTML to indicate how the web page should be displayed by the display and CSS to beautify the display effect of the HTML definition.
After the user logs in, the system queries the session according to the session id sent by the user, analyzes the account of the user from the session id, and returns data displayed to the client according to the user account.
If the data call is involved, the view function calls the model, the model searches data in the database, returns the data to the Views and the Template, and finally displays the data to the Web client.
If the data presentation is involved, the JavaScript code of the page searches the corresponding data in the database through the AJAX technology, adds a < div > tag to a < body > tag of HTML of the displayed page to store a chart, and presents the chart to a user through an Echarts tool in the tag.
When the user uses the uploading/downloading function of the system, the system obtains a corresponding request and provides the request to a corresponding view request function in the Views, and the function takes/stores a file from a database or a folder. The format of the current file can be XML, JSON or any text file conforming to a specific format.
When a user calls a simulation function of the system, view is assigned to a simulation kernel of the user, the kernel searches a database for a sensor model, a dynamic model, controller parameter data and a road model file address required by the simulation through a user account and Case _ id, and transmits data/files into a simulation executable program for simulation. And after the simulation is finished, the data and the file address are put into a database.
Furthermore, when the user information registered by the user at the Web client is stored in the database, the system allocates and registers a user account, and the system distinguishes the user authority and the available in-station resources according to the user account. Meanwhile, the user account is also a basis for classified storage of the file uploaded by the user in the database. The parameter information uploaded by the user in the resource library module is stored in the database, and the user account is bound. The user may select public or private upload of parameter information. When a user registers, a user _ name and a user _ department are required to be filled, the user attribute is judged according to the user filling information rear-end logic processing unit, a user account is distributed, and the information is stored in a database. And after the user logs in, displaying the contents of the case page, the resource page and the test task page according to the user account category.
The system for realizing automatic driving simulation based on Django provided by the embodiment of the invention has at least the following beneficial effects:
1. data sharing, simulation data and training models can be shared, and resource waste and repetitive labor can be effectively avoided.
2. High-performance operation is arranged in the cloud, and response is quicker.
3. The user operates based on the browser, and the compatibility is good.
4. The simulation behavior is easy to manage, and the simulation behavior can be managed in the simulation data through authority management.
5. The product development period is shortened, and the production cost is reduced.
6. High-performance operation is arranged at the server side, and response is quicker.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art will appreciate that the embodiments described in this specification are presently preferred and that no acts or modules are required by the invention.
Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method according to the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
Therefore, the above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention will be covered within the scope of the present invention, and the scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A system for implementing autonomous driving simulation based on Django, the system comprising: the Web client-side simulation system comprises a front-end user interface unit, a back-end logic processing unit and a data management unit, wherein the front-end user interface unit is used for displaying simulation data interaction between a Web client-side and a server through a browser, the back-end logic processing unit is used for receiving a user instruction transmitted by the front-end user interface unit, calling a simulation kernel, extracting database simulation data and returning the database simulation data to the front-end user interface unit, the data management unit is used for operating a corresponding simulation data table according to request data of the back-end logic processing unit and then returning the result to the back-end logic processing unit, and the Web client-side simulation system is characterized in that the back-end logic processing unit comprises a user management module, a case library module, a resource library module, a task management module and an information statistics module, the user management module is used for creating a user login account, the case library module is used for creating a simulation test case by using the resource library module or importing an existing test case file, the resource library module is used for displaying dynamics model parameters, sensor model parameters, controller parameters, road parameters and main model parameters which can be selected by a user, the task management module is used for displaying simulation result of a simulation analysis, a case download result and a visual information display by the user at a client-side, and displaying visual chart by using the Ects database.
2. The system for realizing automatic driving simulation based on Django according to claim 1, wherein the user logs in an account and enters a case library module and creates a simulation test case, or imports an existing test case file, and displays the created case in a list form at a Web client after the new creation of the case is completed, wherein the content of the list comprises an ID, a name, a scene, a map, a description and an operation bar, the operation bar comprises an operation button, an editing button and a deletion button, the user operates, deletes or modifies the case by clicking the operation button, the editing button and the deletion button, and the case enters the task management module after the operation is completed.
3. The system for realizing automatic driving simulation based on Django of claim 2, wherein the list is further provided with a new case and an import case, when the import case is clicked, the import case is refreshed from the case library list after the local xml file is selected, and when the new case is clicked to enter the resource library module, parameters of the display case in the resource library module are default simulation parameters; and clicking the import case, and then entering the resource library module to display the simulation parameters of the import case.
4. The system for realizing automatic driving simulation based on Django as claimed in claim 2, wherein the user selects to create a case, enters the resource library module after selection is completed, selects an opensenario file, edits scene parameters and uploads the case, runs the case after the resource library module displays the uploaded case, and enters the task management module after running is completed.
5. The Django-based system for automated driving simulation according to claim 4, wherein the scene parameter editing comprises dynamic model parameter editing, sensor parameter editing, controller parameter editing, road parameter editing and host vehicle model parameter editing.
6. The Django-based system for realizing automatic driving simulation according to claim 4, wherein the resource library module is further provided with an upload, download and default simulation parameter button, when the upload button is clicked, a local json file is uploaded, the resource library module refreshes the uploaded simulation parameters, when the download button is clicked, the rear-end logic processing unit reads the current simulation parameters in the resource library module and stores the simulation parameters as the json file, and then downloads the simulation parameters to the local, and when the default parameter button is clicked, the resource library module refreshes the system default simulation parameters.
7. The system for realizing automatic driving simulation based on Django as claimed in claim 6, wherein when a user enters the resource library module, if the user clicks the default simulation parameters, the user selects the default simulation parameters provided by the system, if the user clicks the locally stored json format simulation parameter file, the resource library module sequentially fills in the dynamic model parameter edition, the sensor parameter edition, the controller parameter edition, the road parameter edition and the main vehicle model parameter edition, selects the opensenario file used in simulation, clicks the stored parameters after all the parameters are selected, visually opens the openmerive road associated with the opensenario, displays the 2D road model when the road parameter edition is clicked, and displays the 3D vehicle model rendered by the thread.
8. The system for realizing automatic driving simulation based on Django of claim 7, wherein the task management module is provided with a button for displaying test case name, ID, test completion, start time, end time, video playback and download report, when the video playback button is clicked, the video playback plays back the simulation process generated by the back-end logic processing unit, and when the download report button is clicked, the simulation data in CSV format is downloaded.
9. The system for implementing automatic driving simulation based on Django as claimed in claim 8, wherein the information statistics module displays the test quantity line graphs of each time segment and each simulation model according to all user completed cases stored in the current database in a classified manner, and when the simulation data is selected to be uploaded, the CSV file is uploaded, and the information statistics module refreshes the graph of the uploaded simulation data.
10. The system for realizing automatic driving simulation based on Django according to claim 9, wherein when the user selects the start of simulation, the data set in the scene of the simulation is obtained, the simulated road surface data is obtained according to opensennario-associated opennarive files, the initial pose information and the behavior trajectory of the traffic participants are obtained according to opensennario, meanwhile, the control signal is obtained by calculation according to the controller algorithm of the vehicle, each module of the host vehicle is simulated according to the control signal and the body pose information, the state information of the vehicle is calculated, the vehicle state information and the vehicle dynamics model data are calculated to obtain the dynamics response quantity of the host vehicle, the body pose information is calculated and updated in real time according to the response, the data are integrated, the pose information of all traffic flows is output in time sequence to obtain the simulation data result, finally, the pose information of all traffic flows output in time sequence is compared with the pose information of the traffic flows judged to be set, if the setting requirement is not met, the simulation result is judged to be failed, and if the result is met, the result is judged to be passed.
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