CN116224954A - Intelligent driving environment testing party, environment and storage medium fusing real road scene - Google Patents
Intelligent driving environment testing party, environment and storage medium fusing real road scene Download PDFInfo
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- CN116224954A CN116224954A CN202211661020.4A CN202211661020A CN116224954A CN 116224954 A CN116224954 A CN 116224954A CN 202211661020 A CN202211661020 A CN 202211661020A CN 116224954 A CN116224954 A CN 116224954A
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- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0221—Preprocessing measurements, e.g. data collection rate adjustment; Standardization of measurements; Time series or signal analysis, e.g. frequency analysis or wavelets; Trustworthiness of measurements; Indexes therefor; Measurements using easily measured parameters to estimate parameters difficult to measure; Virtual sensor creation; De-noising; Sensor fusion; Unconventional preprocessing inherently present in specific fault detection methods like PCA-based methods
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Abstract
The invention relates to the field of intelligent automobiles, and discloses an intelligent driving environment-friendly test method integrating real road scenes, an environment and a storage medium.
Description
Technical Field
The invention relates to the field of intelligent automobiles, in particular to an intelligent driving environment testing party, environment and storage medium integrating real road scenes.
Background
The intelligent driving automobile test is an important link in the development of automatic driving and is also an important support for the development of automatic driving technology, along with the continuous industrialization landing of high-level automation and networking systems of intelligent networking automobiles, the dependence on the test is more and more deep, especially the automatic driving products above the L3 level which are about to be produced in mass production landing are faced, new challenges are presented for the existing test technology, standards and regulations, and new technological breakthroughs are needed.
The current intelligent driving test method mainly comprises a software on-loop (SIL), hardware on-loop (HIL), vehicle on-loop (VIL), vehicle on-loop (vehicle-in-loop), and finally whole-vehicle site test, road test and the like. The in-loop test is an adaptive acceleration test which simulates an automatic driving automobile to run in a real road environment by means of virtual reality data generation, transmission and interaction technology and is carried out by a dangerous scene reinforcement simulation method of probability distribution. Through the ring test, the test time and cost can be greatly saved, a verification result is provided for the virtual test, and relatively real reference data is provided for the actual road test; the whole vehicle field test is similar to a proposition test, and in a closed area, the intelligent driving vehicle is subjected to basic traffic management facility detection and response capability test, dynamic and static target (motor vehicle, non-motor vehicle, pedestrian, obstacle and the like) identification and response capability test in a front lane, driving capability test in compliance with rules, comprehensive capability test and the like; the final road test is to put the tested vehicle into the public road environment for intelligent driving capability test, and is based on random working condition test under the real use state.
Disclosure of Invention
Based on the above, it is necessary to provide an intelligent driving environment testing party, environment and storage medium which are integrated with real road scenes to simulate real environment scenes in laboratory environment, so as to improve the on-loop detection quality.
The invention discloses an intelligent driving in-loop test method fusing real road scenes, which comprises the following steps:
s1, acquiring vehicle end information and road end information, and transmitting the vehicle end information and the road end information to a laboratory server;
s2, the server stores the obtained vehicle end information and road end information data and is in data connection with the ring test system;
s3, performing a simulation scene fusion modeling function through a real-time simulation modeling tool, and loading data information transmitted by a server in a loop test system to perform closed loop test.
Wherein, the step S1 comprises the following steps:
s11, acquiring vehicle end information of a real road environment scene, and storing and/or transmitting the vehicle end information to a laboratory server at a vehicle-mounted end;
and S12, obtaining road end information of the real road environment scene, transmitting the road end information to a vehicle-mounted end for storage and/or transmitting the road end information to a laboratory server.
Further, in the step S12, a road end edge calculation unit is further included, and is configured to receive the road end information, identify and track the road end information to obtain target object information, and transmit the data after preliminary analysis to the vehicle-mounted end for storage and/or to the laboratory server.
The step S3 specifically comprises the following steps:
s31, after the loop test system fuses the information of the routes at two ends, fusing the sensing signals, and carrying out planning, decision making and control algorithm testing according to the fusion result;
or S32, receiving the vehicle end information from the real road environment scene at the ring test system to carry out planning, decision making and control algorithm testing.
Further, the step S3 further includes:
s33, carrying out algorithm operation and reaction after loading a real road environment scene by an electric control system to be tested in the loop test system, finally outputting a control instruction, transmitting the control instruction through a simulation vehicle module, and carrying out response and function test evaluation of an intelligent driving function in a real-time simulation scene;
s34, transmitting the data of the simulated vehicle module to the vehicle simulated motion bench for intelligent driving man-machine interaction function test.
The invention also discloses an intelligent driving environment in-loop test environment which is integrated with the real road scene and comprises a real road environment and a laboratory environment, and is used for realizing the intelligent driving environment in-loop test method,
the real road environment comprises a vehicle-end sensor, a road-end sensor and a matched data transmitter, and is used for transmitting real road environment information to a laboratory environment;
the laboratory environment comprises a server and an in-loop test system, and the real road environment is in data transmission connection with the in-loop test system through the server.
The vehicle-end sensor and the road-end sensor in the real road environment are one or more of cameras, millimeter wave radars, ultrasonic radars, laser radars, GPS and IMU sensors.
Furthermore, the real road environment further comprises a road end edge computing unit, wherein the road end edge computing unit is used for receiving road end information and identifying and tracking to obtain target object information.
Wherein the in-loop test system comprises an electric control system to be tested, a simulation scene module, an HIL cabinet, a simulation vehicle module and a vehicle simulation motion rack,
the simulation scene module data are transmitted to the to-be-tested electronic control system through the HIL cabinet, the to-be-tested electronic control system makes decisions and sends control instructions, the control instructions are transmitted to the simulation vehicle module through the HIL cabinet, the simulation vehicle module drives the vehicle simulation movement rack to run, after the vehicle simulation movement rack executes driving tasks, the positions are changed, and the position information is transmitted back to the simulation scene module through the simulation vehicle module and the HIL cabinet, so that closed loop testing of the loop testing system is formed.
The invention also discloses a computer readable storage medium, which stores a program, wherein the program can be executed by one or more processors to realize the intelligent driving-in-loop test method for fusing the real road scene, so as to be applied to the intelligent driving-in-loop test environment for fusing the real road scene.
By adopting the technical scheme, the invention has the following beneficial effects:
according to the invention, a real road scene in a real road environment is connected and tested with an electric control system to be tested in a laboratory environment through two transmission routes of a vehicle end and a road end or independent video of the vehicle end, a sensor original acquisition signal from the vehicle end and a sensor original acquisition signal from the road end are received in the laboratory environment, a simulation scene fusion modeling function is carried out through a real-time simulation modeling tool, the electric control system to be tested carries out algorithm operation and reaction after loading the real road environment scene, and intelligent driving function test evaluation is carried out in the real-time simulation scene, and the intelligent driving electric control system is carried out to test the real road environment scene in the laboratory environment, so that the problem of insufficient authenticity of a ring simulation test scene is solved, and the problems of unsafe real road test and irrepeable test scene are also solved.
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In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings, in which
Fig. 1 is a schematic diagram of the technical scheme of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
The invention discloses an intelligent driving in-loop test method fusing real road scenes, which comprises the following steps:
s1, acquiring vehicle end information and road end information, and transmitting the vehicle end information and the road end information to a laboratory server;
s2, the server stores the obtained vehicle end information and road end information data and is in data connection with the ring test system;
s3, performing a simulation scene fusion modeling function through a real-time simulation modeling tool, and loading data information transmitted by a server in a loop test system to perform closed loop test.
The method is characterized in that data information collected by vehicle-end sensors and road-end sensors is converged to a server for storage and utilization, the obtained information data is subjected to simulation scene fusion modeling through a real-time simulation modeling tool, a simulation road surface scene is generated in a laboratory environment, and the simulation road surface scene is transmitted to a loop test system for being transmitted to a simulation vehicle and a vehicle simulation motion rack for intelligent driving man-machine interaction function test, so that vehicle driving, judgment and decision data simulated in the laboratory environment are formed for guiding development of subsequent unmanned and automatic driving systems.
By implementing the scheme, the problem of insufficient authenticity of the loop simulation test scene is solved, and the problems of unsafe real lane testing and unrepeatable test scene can be solved.
Example 2
The embodiment further improves the inventive conception and technical characteristics on the basis of embodiment 1, and provides an intelligent driving on-loop test method fusing a real road scene, which comprises the following steps:
s1, acquiring vehicle end information and road end information, and transmitting the vehicle end information and the road end information to a laboratory server;
s2, the server stores the obtained vehicle end information and road end information data and is in data connection with the ring test system;
s3, performing a simulation scene fusion modeling function through a real-time simulation modeling tool, and loading data information transmitted by a server in a loop test system to perform closed loop test.
Wherein, the step S1 comprises the following steps:
s11, acquiring vehicle end information of a real road environment scene, and storing and/or transmitting the vehicle end information to a laboratory server at a vehicle-mounted end;
and S12, obtaining road end information of the real road environment scene, transmitting the road end information to a vehicle-mounted end for storage and/or transmitting the road end information to a laboratory server.
Further, in the step S12, a road end edge calculation unit is further included, and is configured to receive the road end information, identify and track the road end information to obtain target object information, and transmit the data after preliminary analysis to the vehicle-mounted end for storage and/or to the laboratory server.
The step S3 specifically comprises the following steps:
s31, after the loop test system fuses the information of the routes at two ends, fusing the sensing signals, and carrying out planning, decision making and control algorithm testing according to the fusion result;
or S32, receiving the vehicle end information from the real road environment scene at the ring test system to carry out planning, decision making and control algorithm testing.
Further, the step S3 further includes:
s33, carrying out algorithm operation and reaction after loading a real road environment scene by an electric control system to be tested in the loop test system, finally outputting a control instruction, transmitting the control instruction through a simulation vehicle module, and carrying out response and function test evaluation of an intelligent driving function in a real-time simulation scene;
s34, transmitting the data of the simulated vehicle module to the vehicle simulated motion bench for intelligent driving man-machine interaction function test.
Example 3
In order to better realize the technical solutions disclosed in embodiments 1 and 2, the present embodiment further discloses an intelligent driving-in-loop test environment that merges real road scenes, where the intelligent driving-in-loop test environment includes a real road environment and a laboratory environment, to implement the intelligent driving-in-loop test method described in embodiments 1 or 2,
the real road environment comprises a vehicle-end sensor, a road-end sensor and a matched data transmitter, and is used for transmitting real road environment information to a laboratory environment;
the laboratory environment comprises a server and an in-loop test system, and the real road environment is in data transmission connection with the in-loop test system through the server.
The vehicle-end sensor and the road-end sensor in the real road environment are one or more of cameras, millimeter wave radars, ultrasonic radars, laser radars, GPS and IMU sensors.
Furthermore, the real road environment further comprises a road end edge computing unit, wherein the road end edge computing unit is used for receiving road end information and identifying and tracking to obtain target object information.
Wherein the in-loop test system comprises an electric control system to be tested, a simulation scene module, an HIL cabinet, a simulation vehicle module and a vehicle simulation motion rack,
the simulation scene module data are transmitted to the to-be-tested electronic control system through the HIL cabinet, the to-be-tested electronic control system makes decisions and sends control instructions, the control instructions are transmitted to the simulation vehicle module through the HIL cabinet, the simulation vehicle module drives the vehicle simulation movement rack to run, after the vehicle simulation movement rack executes driving tasks, the positions are changed, and the position information is transmitted back to the simulation scene module through the simulation vehicle module and the HIL cabinet, so that closed loop testing of the loop testing system is formed.
Example 4
The present embodiment is based on the intelligent driving-in-loop test method for fusing real road scenes disclosed in embodiments 1 and 2, and discloses a computer-readable storage medium storing a program executable by one or more processors to implement the above-described intelligent driving-in-loop test method for fusing real road scenes, so as to be applied to the intelligent driving-in-loop test environment for fusing real road scenes described in embodiment 3;
the storage medium may be further subdivided into a vehicle-end storage medium, a road-end storage medium, a loop test system storage medium, and a server storage medium, in which programs necessary for executing or executing the up-and-down data stream or the system in a matched manner are recorded.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.
Claims (10)
1. An intelligent driving in-loop test method integrating real road scenes is characterized by comprising the following steps of:
s1, acquiring vehicle end information and road end information, and transmitting the vehicle end information and the road end information to a laboratory server;
s2, the server stores the obtained vehicle end information and road end information data and is in data connection with the ring test system;
s3, performing a simulation scene fusion modeling function through a real-time simulation modeling tool, and loading data information transmitted by a server in a loop test system to perform closed loop test.
2. The intelligent driving-in-loop test method for fusing real road scenes according to claim 1, wherein the step S1 comprises:
s11, acquiring vehicle end information of a real road environment scene, and storing and/or transmitting the vehicle end information to a laboratory server at a vehicle-mounted end;
and S12, obtaining road end information of the real road environment scene, transmitting the road end information to a vehicle-mounted end for storage and/or transmitting the road end information to a laboratory server.
3. The intelligent driving on-loop test method of the real road scene fusion according to claim 2, wherein in the step S12, a road end edge calculation unit is further established and used for receiving road end information, identifying and tracking to obtain target object information, and data subjected to preliminary analysis is transmitted to a vehicle-mounted end for storage and/or transmission to a laboratory server.
4. The intelligent driving-in-loop test method for fusing real road scenes according to claim 1, wherein the step S3 specifically comprises:
s31, after the loop test system fuses the information of the routes at two ends, fusing the sensing signals, and carrying out planning, decision making and control algorithm testing according to the fusion result;
or S32, receiving the vehicle end information from the real road environment scene at the ring test system to carry out planning, decision making and control algorithm testing.
5. The intelligent driving-in-loop test method for merging real road scenes according to claim 4, wherein said step S3 further comprises:
s33, carrying out algorithm operation and reaction after loading a real road environment scene by an electric control system to be tested in the loop test system, finally outputting a control instruction, transmitting the control instruction through a simulation vehicle module, and carrying out response and function test evaluation of an intelligent driving function in a real-time simulation scene;
s34, transmitting the data of the simulated vehicle module to the vehicle simulated motion bench for intelligent driving man-machine interaction function test.
6. An intelligent driving environment testing environment integrating real road scenes is characterized in that the intelligent driving environment testing environment comprises a real road environment and a laboratory environment, the intelligent driving environment testing method is used for realizing the intelligent driving environment testing method of any one of claims 1-5,
the real road environment comprises a vehicle-end sensor, a road-end sensor and a matched data transmitter, and is used for transmitting real road environment information to a laboratory environment;
the laboratory environment comprises a server and an in-loop test system, and the real road environment is in data transmission connection with the in-loop test system through the server.
7. The intelligent driving in-loop test environment fused with a real road scene according to claim 6, wherein the vehicle-end sensor and the road-end sensor in the real road environment are one or more of cameras, millimeter wave radars, ultrasonic radars, lidars, GPS and IMU sensors.
8. The intelligent driving environment-friendly testing environment integrating the real road scene according to claim 7, wherein the real road environment further comprises a road end edge computing unit, and the road end edge computing unit is used for receiving road end information, and identifying and tracking to obtain target object information.
9. The intelligent driving in-loop test environment integrating real road scenes according to claim 7, wherein the in-loop test system comprises an electric control system to be tested, a simulation scene module, an HIL cabinet, a simulation vehicle module and a vehicle simulation motion rack,
the simulation scene module data are transmitted to the to-be-tested electronic control system through the HIL cabinet, the to-be-tested electronic control system makes decisions and sends control instructions, the control instructions are transmitted to the simulation vehicle module through the HIL cabinet, the simulation vehicle module drives the vehicle simulation movement rack to run, after the vehicle simulation movement rack executes driving tasks, the positions are changed, and the position information is transmitted back to the simulation scene module through the simulation vehicle module and the HIL cabinet, so that closed loop testing of the loop testing system is formed.
10. A computer-readable storage medium storing a program executable by one or more processors to implement the intelligent driving-in-loop test method of merging real road scenes according to any one of claims 1 to 5 for application to the intelligent driving-in-loop test environment of merging real road scenes according to any one of claims 6 to 9.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116611268A (en) * | 2023-07-19 | 2023-08-18 | 苏州智行众维智能科技有限公司 | Vehicle in-loop simulation test system and method based on multiple traffic scenes |
| CN116719054A (en) * | 2023-08-11 | 2023-09-08 | 光轮智能(北京)科技有限公司 | Virtual laser radar point cloud generation method, computer equipment and storage medium |
| CN116909260A (en) * | 2023-09-12 | 2023-10-20 | 常州星宇车灯股份有限公司 | Intelligent driving domain controller test verification method for simulating HIL (high-performance liquid chromatography) rack |
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2022
- 2022-12-23 CN CN202211661020.4A patent/CN116224954A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116611268A (en) * | 2023-07-19 | 2023-08-18 | 苏州智行众维智能科技有限公司 | Vehicle in-loop simulation test system and method based on multiple traffic scenes |
| CN116611268B (en) * | 2023-07-19 | 2023-09-15 | 苏州智行众维智能科技有限公司 | Vehicle in-loop simulation test system and method based on multiple traffic scenes |
| CN116719054A (en) * | 2023-08-11 | 2023-09-08 | 光轮智能(北京)科技有限公司 | Virtual laser radar point cloud generation method, computer equipment and storage medium |
| CN116719054B (en) * | 2023-08-11 | 2023-11-17 | 光轮智能(北京)科技有限公司 | Virtual laser radar point cloud generation method, computer equipment and storage medium |
| CN116909260A (en) * | 2023-09-12 | 2023-10-20 | 常州星宇车灯股份有限公司 | Intelligent driving domain controller test verification method for simulating HIL (high-performance liquid chromatography) rack |
| CN116909260B (en) * | 2023-09-12 | 2023-12-01 | 常州星宇车灯股份有限公司 | Intelligent driving domain controller test verification method for simulating HIL (high-performance liquid chromatography) rack |
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