CN117131589A - Simulation test method and device for intelligent network-connected vehicle cooperative algorithm - Google Patents
Simulation test method and device for intelligent network-connected vehicle cooperative algorithm Download PDFInfo
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Abstract
The application discloses a simulation test method and a device for intelligent network vehicle cooperative algorithm, which relate to the technical field of intelligent network and comprise the following steps: respectively carrying out interface configuration on a plurality of simulation software based on an intelligent network-connected vehicle cooperative algorithm to be tested to obtain an input configuration interface and an output configuration interface which are respectively corresponding to the plurality of simulation software; selecting a target scene matched with the intelligent network vehicle cooperative algorithm from a preset scene library based on the category corresponding to the intelligent network vehicle cooperative algorithm; based on a target scene and input configuration interfaces and output configuration interfaces respectively corresponding to various simulation software, performing scene simulation test on the intelligent network-connected vehicle cooperative algorithm to obtain scene simulation data; based on the evaluation index corresponding to the intelligent network vehicle cooperative algorithm, carrying out statistical analysis on the scene simulation data, and determining the reliability evaluation result of the intelligent network vehicle cooperative algorithm. The application can effectively evaluate the reliability and the safety of the intelligent network-connected vehicle cooperative algorithm.
Description
Technical Field
The application relates to the technical field of intelligent networking, in particular to a simulation test method and device for an intelligent networking vehicle cooperative algorithm.
Background
With the continuous development of intelligent networking technology, various intelligent networking vehicle cooperative algorithms appear, and in order to ensure the running safety of intelligent networking vehicles, simulation tests need to be carried out on the intelligent networking vehicle cooperative algorithms.
At present, a complete testing environment is difficult to provide for the intelligent network vehicle cooperation algorithm so as to test the performance of the intelligent network vehicle cooperation algorithm in a real environment, and therefore the reliability and the safety of the intelligent network vehicle cooperation algorithm cannot be effectively evaluated.
Disclosure of Invention
The application provides a simulation test method and a simulation test device for an intelligent network-connected vehicle cooperative algorithm, which mainly can effectively evaluate the reliability and the safety of the intelligent network-connected vehicle cooperative algorithm.
According to a first aspect of the embodiment of the present application, a simulation test method of an intelligent network-connected vehicle collaborative algorithm is provided, and is applied to a collaborative simulation platform, where the collaborative simulation platform is integrated with a plurality of simulation software, and the simulation test method includes:
respectively carrying out interface configuration on the plurality of simulation software based on an intelligent network-connected vehicle cooperative algorithm to be tested to obtain an input configuration interface and an output configuration interface which are respectively corresponding to the plurality of simulation software;
selecting a target scene matched with the intelligent network vehicle cooperative algorithm from a preset scene library based on the category corresponding to the intelligent network vehicle cooperative algorithm;
based on the target scene and input configuration interfaces and output configuration interfaces respectively corresponding to the multiple simulation software, performing scene simulation test on the intelligent network-connected vehicle cooperative algorithm to obtain scene simulation data;
based on the evaluation index corresponding to the intelligent network-connected vehicle cooperative algorithm, carrying out statistical analysis on the scene simulation data to obtain index data corresponding to the intelligent network-connected vehicle cooperative algorithm;
and determining a reliability evaluation result of the intelligent network vehicle cooperative algorithm based on the index data.
According to a second aspect of the embodiment of the present application, there is provided a simulation test device for an intelligent network-connected vehicle cooperation algorithm, including:
the configuration unit is used for respectively carrying out interface configuration on the plurality of simulation software based on an intelligent network vehicle cooperative algorithm to be tested to obtain an input configuration interface and an output configuration interface which are respectively corresponding to the plurality of simulation software;
the selection unit is used for selecting a target scene matched with the intelligent network vehicle cooperative algorithm from a preset scene library based on the category corresponding to the intelligent network vehicle cooperative algorithm;
the simulation unit is used for performing scene simulation test on the intelligent network vehicle collaborative algorithm based on the target scene and the input configuration interface and the output configuration interface which are respectively corresponding to the plurality of simulation software to obtain scene simulation data;
the analysis unit is used for carrying out statistical analysis on the scene simulation data based on the evaluation index corresponding to the intelligent network vehicle cooperative algorithm to obtain index data corresponding to the intelligent network vehicle cooperative algorithm;
and the determining unit is used for determining the reliability evaluation result of the intelligent network-connected vehicle cooperative algorithm based on the index data.
According to a third aspect of embodiments of the present application, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:
respectively carrying out interface configuration on the plurality of simulation software based on an intelligent network-connected vehicle cooperative algorithm to be tested to obtain an input configuration interface and an output configuration interface which are respectively corresponding to the plurality of simulation software;
selecting a target scene matched with the intelligent network vehicle cooperative algorithm from a preset scene library based on the category corresponding to the intelligent network vehicle cooperative algorithm;
based on the target scene and input configuration interfaces and output configuration interfaces respectively corresponding to the multiple simulation software, performing scene simulation test on the intelligent network-connected vehicle cooperative algorithm to obtain scene simulation data;
based on the evaluation index corresponding to the intelligent network-connected vehicle cooperative algorithm, carrying out statistical analysis on the scene simulation data to obtain index data corresponding to the intelligent network-connected vehicle cooperative algorithm;
and determining a reliability evaluation result of the intelligent network vehicle cooperative algorithm based on the index data.
According to a fourth aspect of embodiments of the present application, there is provided an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the program:
respectively carrying out interface configuration on the plurality of simulation software based on an intelligent network-connected vehicle cooperative algorithm to be tested to obtain an input configuration interface and an output configuration interface which are respectively corresponding to the plurality of simulation software;
selecting a target scene matched with the intelligent network vehicle cooperative algorithm from a preset scene library based on the category corresponding to the intelligent network vehicle cooperative algorithm;
based on the target scene and input configuration interfaces and output configuration interfaces respectively corresponding to the multiple simulation software, performing scene simulation test on the intelligent network-connected vehicle cooperative algorithm to obtain scene simulation data;
based on the evaluation index corresponding to the intelligent network-connected vehicle cooperative algorithm, carrying out statistical analysis on the scene simulation data to obtain index data corresponding to the intelligent network-connected vehicle cooperative algorithm;
and determining a reliability evaluation result of the intelligent network vehicle cooperative algorithm based on the index data.
The innovation points of the embodiment of the application include:
1. the method comprises the steps of constructing a test framework integrated with various simulation software, providing a complete test environment for the intelligent network vehicle cooperation algorithm, testing the performance of the intelligent network vehicle cooperation algorithm in a real environment, and evaluating the safety and reliability of the intelligent network vehicle cooperation algorithm.
2. The performance of the intelligent network-connected vehicle cooperative algorithm on dynamics, traffic flow and communication layers is tested through dynamics simulation software, traffic flow simulation software and communication simulation software respectively, and the method is one of innovation points of the embodiment of the application.
3. The simulation test scene is created by adopting a plurality of modes such as a preset scene library, a map editor, script control and the like so as to meet scene requirements, and the accuracy and the reliability of the simulation effect are ensured.
Compared with the prior art, the simulation test method and device for the intelligent network vehicle collaborative algorithm provided by the application can respectively carry out interface configuration on the various simulation software based on the intelligent network vehicle collaborative algorithm to be tested, obtain the input configuration interface and the output configuration interface respectively corresponding to the various simulation software, select a target scene matched with the intelligent network vehicle collaborative algorithm from a preset scene library based on the category corresponding to the intelligent network vehicle collaborative algorithm, and simultaneously carry out scene simulation test on the intelligent network vehicle collaborative algorithm based on the target scene, the input configuration interface and the output configuration interface respectively corresponding to the various simulation software to obtain scene simulation data, carry out statistical analysis on the scene simulation data based on the evaluation index corresponding to the intelligent network vehicle collaborative algorithm to obtain index data corresponding to the intelligent network vehicle collaborative algorithm, and finally determine the reliability evaluation result of the intelligent network vehicle collaborative algorithm based on the index data. Therefore, the application can provide a complete test environment for the intelligent network vehicle cooperative algorithm by constructing the simulation test platform integrated with various simulation software, and efficiently simulate the vehicle running, so that the performance of the intelligent network vehicle cooperative algorithm in the real environment can be tested, the reliability and the safety of the intelligent network vehicle cooperative algorithm can be effectively evaluated, and meanwhile, the application can provide a unified simulation test standard for intelligent network vehicle researchers, and can be universal for any cooperative algorithm.
The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.
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In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a schematic flow chart of a simulation test method of an intelligent network-connected vehicle cooperative algorithm provided by an embodiment of the application;
FIG. 2 shows a schematic diagram of a co-simulation platform provided by an embodiment of the present application;
fig. 3 is a schematic structural diagram of a simulation test device of an intelligent network-connected vehicle cooperative algorithm according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a simulation test device of another intelligent network-connected vehicle cooperative algorithm according to an embodiment of the present application;
fig. 5 shows a schematic entity structure of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without any inventive effort, are intended to be within the scope of the application.
It should be noted that the terms "comprising" and "having" and any variations thereof in the embodiments of the present application and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
The prior art is difficult to provide a complete testing environment for the intelligent network vehicle cooperation algorithm so as to test the performance of the intelligent network vehicle cooperation algorithm in a real environment, so that the reliability and the safety of the intelligent network vehicle cooperation algorithm cannot be effectively evaluated.
In order to overcome the above drawbacks, an embodiment of the present application provides a simulation test method of an intelligent network-connected vehicle collaborative algorithm, which is applied to a collaborative simulation platform, as shown in fig. 1, and the method includes:
and 101, respectively carrying out interface configuration on the plurality of simulation software based on an intelligent network vehicle collaborative algorithm to be tested to obtain an input configuration interface and an output configuration interface which are respectively corresponding to the plurality of simulation software.
The collaborative simulation platform is integrated with various simulation software, and the various simulation software mainly comprises dynamics simulation software, traffic flow simulation software and communication simulation software. It should be noted that the simulation software according to the embodiments of the present application is not limited to the above-described simulation software. In addition, the intelligent network vehicle cooperative algorithm can be a communication-based cooperative algorithm, a perception-based cooperative algorithm, a decision-based cooperative algorithm and the like, wherein the communication-based cooperative algorithm mainly realizes information sharing and cooperative driving through communication among vehicles, for example, the vehicles can share information such as position, speed, acceleration and the like through a workshop communication system V2X so as to realize cooperative driving; the cooperative algorithm based on perception mainly realizes information sharing and cooperative running through sensors (such as radar, cameras and the like) of the vehicle, for example, the vehicle can detect the position, speed, acceleration and the like of surrounding vehicles through the sensors so as to realize cooperative running; the cooperative algorithm based on the decision is mainly to make a decision through the running state of the vehicle and the environmental information so as to realize cooperative running. For example, the vehicle may formulate a reasonable driving strategy according to the state of the vehicle and information such as the position, speed, acceleration, etc. of surrounding vehicles, so as to realize cooperative driving. It should be noted that, the intelligent network vehicle cooperation algorithm according to the embodiment of the present application is not limited to the above-listed several types, but may be other types of cooperation algorithms.
The embodiment of the application is mainly suitable for the scene of simulation test of the intelligent network-connected vehicle cooperative algorithm. The execution main body of the embodiment of the application is a device or equipment capable of carrying out simulation test on the intelligent network-connected vehicle cooperative algorithm, such as a cooperative simulation platform.
In order to provide a complete test environment for the intelligent network vehicle collaborative algorithm to test the performance of the intelligent network vehicle collaborative algorithm in a real environment, the embodiment of the application builds a collaborative simulation platform, as shown in fig. 2, and various simulation software, such as dynamics simulation software, traffic flow simulation software and communication simulation software, are coupled in a simulation tool of the collaborative simulation platform. Before formally performing simulation test, interface configuration is required to be performed on various simulation software based on an intelligent network vehicle cooperative algorithm to be tested so as to integrate the intelligent network vehicle cooperative algorithm into a simulation platform, and the method specifically comprises the following steps of: and respectively carrying out interface configuration on the dynamics simulation software, the traffic flow simulation software and the communication simulation software based on the intelligent network vehicle collaborative algorithm to obtain an input configuration interface and an output configuration interface which are respectively corresponding to the dynamics simulation software, the traffic flow simulation software and the communication simulation software.
The dynamics simulation software can be Carsim, carla, panosim and the like, and is mainly used for creating a detailed vehicle dynamics model and simulating the running behavior of the vehicle under different road conditions, loads and the like; the traffic flow simulation software can be SUMO, VTD and the like, and is mainly used for creating microscopic traffic, such as the geometric characteristics of a simulation road section and traffic conditions in the road section, wherein the geometric characteristics of the simulation road section comprise road width, gradient, bending degree and the like, and the traffic conditions in the road section comprise vehicle density, speed, flow and the like; the communication simulation software, which may be ns-3, OMNeT++, ROS, etc., specifically, supports V2V and V2I communications, is used to simulate the communication process between vehicles.
In addition, aiming at the intelligent network vehicle collaborative algorithm of different types, the interface configuration modes of the dynamics simulation software, the traffic flow simulation software and the communication simulation software are different.
Step 102, selecting a target scene matched with the intelligent network vehicle cooperative algorithm from a preset scene library based on the category corresponding to the intelligent network vehicle cooperative algorithm.
The preset scene library of the collaborative simulation platform is a public library for storing various predefined simulation scenes, including various cities, highways, congestion scenes and the like. The parameter information of the predefined simulation scene comprises parameters required by various simulation software. Researchers can select scenes from a preset scene library, and perform parameter configuration and modification according to the needs of themselves, and the construction and configuration processes of the scenes can be standardized through the preset scene library, so that the researchers can be helped to quickly copy, modify and reuse different scenes.
For the embodiment of the application, when the type of the intelligent network-connected vehicle cooperative algorithm is a communication-based cooperative algorithm, the target scene selected from the preset scene library can be a scene that the vehicle runs on the expressway and performs communication between vehicles; when the intelligent network-connected vehicle cooperative algorithm is based on a perception cooperative algorithm, the target scene selected from the preset scene library can be a scene that the vehicle runs in the urban environment and carries out sensor information sharing; when the intelligent network-connected vehicle cooperative algorithm is a decision-based cooperative algorithm, the target scene selected from the preset scene library can be a scene in which the vehicle runs under a complex road environment and makes a decision.
Specifically, the preset configuration file of the simulation scene is stored in a preset scene library of the collaborative simulation platform of the cloud service, and after the user logs in, the user can browse the scene in the preset scene library and select the scene, such as a city, a highway and a congestion scene. In addition, parameter information of a specific scene can be checked in a preset scene library. After the user selects the target scene from the preset scene library, the target scene can be downloaded and imported into the local co-simulation platform. Meanwhile, in the simulation configuration, a required scene is selected, corresponding parameters are configured, and then the simulation can be started.
Furthermore, besides selecting a required scene through a preset scene library, the collaborative simulation platform in the embodiment of the application also provides a map editor, and various scenes including road sections, intersections, lanes, signal lamps, buildings and the like can be quickly created through simple operations such as dragging, adding, modifying and the like. In addition, various API interfaces provided by the collaborative simulation platform can be used for writing scripts to control the running behavior of the vehicle in a self-defined manner, so that a required simulation environment is constructed, for example, the speed of the vehicle is changed or the state of a road section is changed.
It should be noted that, when the required scene is too complex, the above-mentioned multiple modes may be combined, and the corresponding software tool is used to perform adjustment processing, so as to ensure accuracy and reliability of the simulation effect.
And 103, performing scene simulation test on the intelligent network vehicle collaborative algorithm based on the target scene and the input configuration interface and the output configuration interface which are respectively corresponding to the plurality of simulation software to obtain scene simulation data.
The parameter information of the target scene includes parameters required by various simulation software, for example, the parameter information of the target scene includes a first parameter, a second parameter and a third parameter, and the first parameter, the second parameter and the third parameter are parameters required by dynamics simulation software, traffic flow simulation software and communication simulation software respectively.
For the embodiment of the application, when the simulation test is formally performed based on the target scene, the method comprises the following steps: the parameter information of the target scene is respectively transmitted to the input configuration interfaces of the plurality of simulation software, scene simulation test is carried out on the intelligent network vehicle cooperative algorithm, and simulation data of the plurality of simulation software are output through the output configuration interfaces; and determining the scene simulation data based on the simulation data of the plurality of simulation software.
In a specific application scenario, when multiple simulation software includes dynamics simulation software, traffic flow simulation software and communication simulation software, the steps of transmitting parameter information of the target scenario to input configuration interfaces of the multiple simulation software respectively, performing scenario simulation test on the intelligent network vehicle collaborative algorithm, and outputting simulation data of the multiple simulation software through the output configuration interfaces include: transmitting a first parameter in the parameter information to an input configuration interface of the dynamics simulation software, performing dynamics simulation test on the intelligent network-connected vehicle cooperative algorithm, and outputting dynamics simulation data through an output configuration interface of the dynamics simulation software; transmitting a second parameter in the parameter information to an input configuration interface of the traffic flow simulation software, performing real-time traffic simulation test on the intelligent network-connected vehicle cooperative algorithm, and outputting traffic simulation data through an output configuration interface of the traffic flow simulation software; and transmitting a third parameter in the parameter information to an input configuration interface of the communication simulation software, performing communication simulation test on the intelligent network vehicle collaborative algorithm, and outputting communication simulation data through an output configuration interface of the communication simulation software.
Specifically, when the dynamics simulation software is CARLA, the dynamics parameters, road section geometric information, environmental information and the like of the vehicle can be transmitted to an input configuration interface of the CARLA, and are processed by a vehicle controller so as to simulate the running behavior of the vehicle under different road conditions, loads and the like; when the traffic simulation software is SUMO, detailed geometric information of the road section, traffic network information such as traffic flow and dynamic data such as speed, acceleration and position of the vehicle can be transmitted to an input configuration interface of the SUMO, and the traffic simulation software is processed by a vehicle controller so as to simulate the geometric characteristics of the road section and the traffic conditions in the road section; when the communication simulation software is the communication simulation software integrated with the ROS, the speed, the position, the acceleration and the steering of the vehicle, the speed, the position, the acceleration and the steering of other vehicles, road condition information (traffic jam, road surface condition) and the like can be transmitted to an input configuration interface of the communication simulation software based on the ROS so as to simulate the communication between the vehicles.
Further, the dynamics simulation data, the traffic simulation data and the communication simulation data can be respectively output in a text form through the output configuration interfaces of the CARLA software, the SUMO software and the ROS-based communication simulation software.
Further, before the parameter information of the target scene is transferred, the parameter information of the target scene can be adjusted by using a preset map editor, so that the adjusted parameter information is obtained, and the adjusted parameter information is transferred to the input configuration interfaces of the multiple simulation software respectively. For example, a map editor of the CARLA software is utilized to adjust a first parameter in the parameter information, and the adjusted first parameter is transmitted to an input configuration interface of the CARLA software for simulation.
And 104, carrying out statistical analysis on the scene simulation data based on the evaluation index corresponding to the intelligent network vehicle cooperation algorithm to obtain index data corresponding to the intelligent network vehicle cooperation algorithm.
The evaluation indexes corresponding to the intelligent network-connected vehicle cooperative algorithms of different types are different, for example, the evaluation indexes can be communication success rate, information transmission time and the like aiming at the communication-based cooperative algorithm; aiming at a cooperative algorithm based on perception, the evaluation index can be the detection accuracy of a sensor, the tracking accuracy of a target and the like; aiming at a collaborative algorithm based on decision, the evaluation index can be a vehicle running safety coefficient, a road condition adaptability coefficient and the like.
For the embodiment of the application, after each simulation operation is finished, the dynamics simulation software, the traffic flow simulation software and the communication simulation software can respectively output corresponding simulation data, and the simulation data can be displayed and updated in real time at the user terminal, such as information of running track, speed, acceleration and the like of the vehicle. Furthermore, according to the pre-established evaluation index, the simulation data can be analyzed and counted to obtain index data corresponding to the intelligent network vehicle cooperation algorithm, and the index data are displayed on the user terminal. Meanwhile, in the simulation process, 2D/3D visual output and related text output can be provided, the related text specifically refers to interaction information of a simulation tool, related application program names and the like used by the simulation process for the time are used for helping researchers to debug, and in addition, the simulation output can be stored in a file for further analysis and evaluation.
And 105, determining a reliability evaluation result of the intelligent network vehicle cooperative algorithm based on the index data.
For the embodiment of the application, when the type of the intelligent network-connected vehicle cooperative algorithm is a communication-based cooperative algorithm, the index data comprise the communication success rate and the information transmission time; if the communication success rate and the information transmission time meet preset communication conditions, determining that a cooperative algorithm based on communication is reliable; when the intelligent network-connected vehicle cooperative algorithm is based on a perception cooperative algorithm, the index data comprise the detection accuracy of the sensor and the target tracking accuracy; if the detection accuracy of the sensor and the target tracking accuracy meet the preset sensing conditions, determining that a cooperative algorithm based on sensing is reliable; when the intelligent network vehicle cooperative algorithm is a decision-based cooperative algorithm, the index data comprise road condition adaptability coefficients and vehicle driving safety coefficients; if the road condition adaptability coefficient and the vehicle running safety coefficient meet the preset decision condition, determining that the cooperative algorithm based on the decision is reliable. The preset communication conditions, the preset sensing conditions and the preset decision conditions can be set according to actual service requirements.
For example, when the counted communication success rate is greater than the preset success rate and the information transmission time is within the preset time range, the communication-based cooperative algorithm is determined to be reliable.
Furthermore, the co-simulation platform can also provide adjustment suggestions according to the evaluation result, for example, for the situation of high communication failure rate, researchers are suggested to improve the communication protocol so as to improve the communication success rate; aiming at the situation of large perception errors, researchers are recommended to optimize the performance of a perception algorithm, and the detection accuracy is improved.
In addition, simulation data of different intelligent network-connected vehicle cooperative algorithms under the same test scene can be compared, and performance and reliability of the intelligent network-connected vehicle cooperative algorithms can be evaluated.
According to the simulation test method for the intelligent network vehicle collaborative algorithm, provided by the embodiment of the application, through building the simulation test platform integrated with various simulation software, a complete test environment can be provided for the intelligent network vehicle collaborative algorithm, and vehicle running can be efficiently simulated, so that the performance of the intelligent network vehicle collaborative algorithm in a real environment can be tested, the reliability and the safety of the intelligent network vehicle collaborative algorithm can be effectively evaluated, and meanwhile, the embodiment of the application can also provide a unified simulation test standard for intelligent network vehicle researchers, and can be universal for any collaborative algorithm.
Further, as a specific implementation of fig. 1, an embodiment of the present application provides a simulation test device for an intelligent network-connected vehicle collaborative algorithm, as shown in fig. 3, where the device includes: a configuration unit 31, a selection unit 32, a simulation unit 33, an analysis unit 34 and a determination unit 35.
The configuration unit 31 may be configured to perform interface configuration on the multiple simulation software based on an intelligent network vehicle collaborative algorithm to be tested, so as to obtain an input configuration interface and an output configuration interface corresponding to the multiple simulation software respectively;
the selecting unit 32 may be configured to select, from a preset scene library, a target scene that matches the intelligent network vehicle collaboration algorithm based on a category corresponding to the intelligent network vehicle collaboration algorithm;
the simulation unit 33 may be configured to perform a scene simulation test on the intelligent network vehicle collaborative algorithm based on the target scene and the input configuration interface and the output configuration interface respectively corresponding to the multiple simulation software, so as to obtain scene simulation data;
the analysis unit 34 may be configured to perform statistical analysis on the scene simulation data based on the evaluation index corresponding to the intelligent network vehicle coordination algorithm, to obtain index data corresponding to the intelligent network vehicle coordination algorithm;
the determining unit 35 may be configured to determine a reliability evaluation result of the intelligent network vehicle cooperation algorithm based on the index data.
In a specific application scenario, when the multiple simulation software includes dynamics simulation software, traffic flow simulation software and communication simulation software, the configuration unit 31 may be specifically configured to perform interface configuration on the dynamics simulation software, the traffic flow simulation software and the communication simulation software based on the intelligent network vehicle collaborative algorithm, so as to obtain an input configuration interface and an output configuration interface corresponding to the dynamics simulation software, the traffic flow simulation software and the communication simulation software, respectively.
In a specific application scenario, the selecting unit 32 may be specifically configured to, when the type of the intelligent network-connected vehicle cooperative algorithm is a communication-based cooperative algorithm, select a target scenario from the preset scenario library as a communication scenario between vehicles; when the intelligent network-connected vehicle cooperative algorithm is based on a perception cooperative algorithm, selecting a target scene from the preset scene library as a scene of sensor information sharing; when the intelligent network vehicle collaborative algorithm is based on decision-making collaborative algorithm, the target scene selected from the preset scene library is the scene of vehicle driving decision.
In a specific application scenario, the simulation unit 33, as shown in fig. 4, includes: a simulation module 331 and a determination module 332.
The simulation module 331 may be configured to transmit parameter information of the target scene to input configuration interfaces of the multiple simulation software, perform a scene simulation test on the intelligent network vehicle collaborative algorithm, and output simulation data of the multiple simulation software through the output configuration interfaces.
The determining module 332 may be configured to determine the scene simulation data based on simulation data of the plurality of simulation software.
Further, when the plurality of simulation software includes dynamics simulation software, traffic flow simulation software and communication simulation software, the simulation module 331 may be specifically configured to transmit a first parameter in the parameter information to an input configuration interface of the dynamics simulation software, perform a dynamics simulation test on the intelligent network vehicle collaborative algorithm, and output dynamics simulation data through an output configuration interface of the dynamics simulation software; transmitting a second parameter in the parameter information to an input configuration interface of the traffic flow simulation software, performing real-time traffic simulation test on the intelligent network-connected vehicle cooperative algorithm, and outputting traffic simulation data through an output configuration interface of the traffic flow simulation software; and transmitting a third parameter in the parameter information to an input configuration interface of the communication simulation software, performing communication simulation test on the intelligent network vehicle collaborative algorithm, and outputting communication simulation data through an output configuration interface of the communication simulation software.
In a specific application scenario, the simulation unit 33 further includes: an adjustment module 333.
The adjustment module 333 may be configured to adjust the parameter information of the target scene by using a preset map editor, to obtain adjusted parameter information; and respectively transmitting the adjusted parameter information to input configuration interfaces of the plurality of simulation software.
In a specific application scenario, the determining unit 35 may be specifically configured to, when the type of the intelligent network-connected vehicle cooperative algorithm is a communication-based cooperative algorithm, the index data include a communication success rate and an information transmission time; if the communication success rate and the information transmission time meet preset communication conditions, determining that the cooperative algorithm based on communication is reliable; when the intelligent network vehicle cooperative algorithm is based on perception, the index data comprise the detection accuracy of the sensor and the target tracking accuracy; if the detection accuracy of the sensor and the target tracking accuracy meet preset sensing conditions, determining that the cooperative algorithm based on sensing is reliable; when the intelligent network vehicle cooperative algorithm is a decision-based cooperative algorithm, the index data comprise road condition adaptability coefficients and vehicle driving safety coefficients; and if the road condition adaptability coefficient and the vehicle running safety coefficient meet preset decision conditions, determining that the collaborative algorithm based on the decision is reliable.
It should be noted that, other corresponding descriptions of each functional module related to the simulation test device of the intelligent network vehicle collaborative algorithm provided by the embodiment of the present application may refer to corresponding descriptions of the method shown in fig. 1, and are not repeated herein.
Based on the above method as shown in fig. 1, correspondingly, the embodiment of the present application further provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the following steps: respectively carrying out interface configuration on the plurality of simulation software based on an intelligent network-connected vehicle cooperative algorithm to be tested to obtain an input configuration interface and an output configuration interface which are respectively corresponding to the plurality of simulation software; selecting a target scene matched with the intelligent network vehicle cooperative algorithm from a preset scene library based on the category corresponding to the intelligent network vehicle cooperative algorithm; based on the target scene and input configuration interfaces and output configuration interfaces respectively corresponding to the multiple simulation software, performing scene simulation test on the intelligent network-connected vehicle cooperative algorithm to obtain scene simulation data; based on the evaluation index corresponding to the intelligent network-connected vehicle cooperative algorithm, carrying out statistical analysis on the scene simulation data to obtain index data corresponding to the intelligent network-connected vehicle cooperative algorithm; and determining a reliability evaluation result of the intelligent network vehicle cooperative algorithm based on the index data.
Based on the embodiment of the method shown in fig. 1 and the device shown in fig. 3, the embodiment of the application further provides a physical structure diagram of an electronic device, as shown in fig. 5, where the electronic device includes: a processor 41, a memory 42, and a computer program stored on the memory 42 and executable on the processor, wherein the memory 42 and the processor 41 are both arranged on a bus 43, the processor 41 performing the following steps when said program is executed: respectively carrying out interface configuration on the plurality of simulation software based on an intelligent network-connected vehicle cooperative algorithm to be tested to obtain an input configuration interface and an output configuration interface which are respectively corresponding to the plurality of simulation software; selecting a target scene matched with the intelligent network vehicle cooperative algorithm from a preset scene library based on the category corresponding to the intelligent network vehicle cooperative algorithm; based on the target scene and input configuration interfaces and output configuration interfaces respectively corresponding to the multiple simulation software, performing scene simulation test on the intelligent network-connected vehicle cooperative algorithm to obtain scene simulation data; based on the evaluation index corresponding to the intelligent network-connected vehicle cooperative algorithm, carrying out statistical analysis on the scene simulation data to obtain index data corresponding to the intelligent network-connected vehicle cooperative algorithm; and determining a reliability evaluation result of the intelligent network vehicle cooperative algorithm based on the index data.
According to the embodiment of the application, through building the simulation test platform integrated with various simulation software, a complete test environment can be provided for the intelligent network vehicle cooperation algorithm, and vehicle running can be efficiently simulated, so that the performance of the intelligent network vehicle cooperation algorithm in a real environment can be tested, the reliability and safety of the intelligent network vehicle cooperation algorithm can be effectively evaluated, and meanwhile, the embodiment of the application can also provide a unified simulation test standard for intelligent network vehicle researchers, and can be universal for any cooperation algorithm.
Those of ordinary skill in the art will appreciate that: the drawing is a schematic diagram of one embodiment and the modules or flows in the drawing are not necessarily required to practice the application.
Those of ordinary skill in the art will appreciate that: the modules in the apparatus of the embodiments may be distributed in the apparatus of the embodiments according to the description of the embodiments, or may be located in one or more apparatuses different from the present embodiments with corresponding changes. The modules of the above embodiments may be combined into one module, or may be further split into a plurality of sub-modules.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. The simulation test method of the intelligent network-connected vehicle cooperative algorithm is characterized by being applied to a cooperative simulation platform, wherein the cooperative simulation platform is integrated with various simulation software and comprises the following steps of:
respectively carrying out interface configuration on the plurality of simulation software based on an intelligent network-connected vehicle cooperative algorithm to be tested to obtain an input configuration interface and an output configuration interface which are respectively corresponding to the plurality of simulation software;
selecting a target scene matched with the intelligent network vehicle cooperative algorithm from a preset scene library based on the category corresponding to the intelligent network vehicle cooperative algorithm;
based on the target scene and input configuration interfaces and output configuration interfaces respectively corresponding to the multiple simulation software, performing scene simulation test on the intelligent network-connected vehicle cooperative algorithm to obtain scene simulation data;
based on the evaluation index corresponding to the intelligent network-connected vehicle cooperative algorithm, carrying out statistical analysis on the scene simulation data to obtain index data corresponding to the intelligent network-connected vehicle cooperative algorithm;
and determining a reliability evaluation result of the intelligent network vehicle cooperative algorithm based on the index data.
2. The method according to claim 1, wherein when the plurality of simulation software includes dynamics simulation software, traffic flow simulation software and communication simulation software, the intelligent network vehicle collaborative algorithm to be tested is used for respectively performing interface configuration on the plurality of simulation software, so as to obtain an input configuration interface and an output configuration interface respectively corresponding to the plurality of simulation software, including:
and respectively carrying out interface configuration on the dynamics simulation software, the traffic flow simulation software and the communication simulation software based on the intelligent network vehicle collaborative algorithm to obtain an input configuration interface and an output configuration interface which are respectively corresponding to the dynamics simulation software, the traffic flow simulation software and the communication simulation software.
3. The method according to claim 1, wherein the selecting, based on the category corresponding to the intelligent network vehicle cooperation algorithm, a target scene matching the intelligent network vehicle cooperation algorithm from a preset scene library includes:
when the intelligent network-connected vehicle cooperative algorithm is based on communication, selecting a target scene from the preset scene library as a communication scene between vehicles;
when the intelligent network-connected vehicle cooperative algorithm is based on a perception cooperative algorithm, selecting a target scene from the preset scene library as a scene of sensor information sharing;
when the intelligent network vehicle collaborative algorithm is based on decision-making collaborative algorithm, the target scene selected from the preset scene library is the scene of vehicle driving decision.
4. The method according to claim 1, wherein the performing a scene simulation test on the intelligent network vehicle collaborative algorithm based on the target scene and the input configuration interface and the output configuration interface respectively corresponding to the plurality of simulation software to obtain scene simulation data includes:
the parameter information of the target scene is respectively transmitted to the input configuration interfaces of the plurality of simulation software, scene simulation test is carried out on the intelligent network vehicle cooperative algorithm, and simulation data of the plurality of simulation software are output through the output configuration interfaces;
and determining the scene simulation data based on the simulation data of the plurality of simulation software.
5. The method according to claim 4, wherein when the plurality of simulation software includes dynamics simulation software, traffic flow simulation software, and communication simulation software, the transferring the parameter information of the target scene to the input configuration interfaces of the plurality of simulation software, respectively, performing scene simulation test on the intelligent networked vehicle cooperation algorithm, and outputting simulation data of the plurality of simulation software through the output configuration interfaces, includes:
transmitting a first parameter in the parameter information to an input configuration interface of the dynamics simulation software, performing dynamics simulation test on the intelligent network-connected vehicle cooperative algorithm, and outputting dynamics simulation data through an output configuration interface of the dynamics simulation software;
transmitting a second parameter in the parameter information to an input configuration interface of the traffic flow simulation software, performing real-time traffic simulation test on the intelligent network-connected vehicle cooperative algorithm, and outputting traffic simulation data through an output configuration interface of the traffic flow simulation software;
and transmitting a third parameter in the parameter information to an input configuration interface of the communication simulation software, performing communication simulation test on the intelligent network vehicle collaborative algorithm, and outputting communication simulation data through an output configuration interface of the communication simulation software.
6. The method according to claim 4, wherein the method further comprises:
adjusting the parameter information of the target scene by using a preset map editor to obtain adjusted parameter information;
and respectively transmitting the adjusted parameter information to input configuration interfaces of the plurality of simulation software.
7. The method of claim 1, wherein the determining the reliability evaluation result of the intelligent network-connected vehicle cooperation algorithm based on the index data comprises:
when the intelligent network vehicle cooperative algorithm is a cooperative algorithm based on communication, the index data comprise a communication success rate and information transmission time;
if the communication success rate and the information transmission time meet preset communication conditions, determining that the cooperative algorithm based on communication is reliable;
when the intelligent network vehicle cooperative algorithm is based on perception, the index data comprise the detection accuracy of the sensor and the target tracking accuracy;
if the detection accuracy of the sensor and the target tracking accuracy meet preset sensing conditions, determining that the cooperative algorithm based on sensing is reliable;
when the intelligent network vehicle cooperative algorithm is a decision-based cooperative algorithm, the index data comprise road condition adaptability coefficients and vehicle driving safety coefficients;
and if the road condition adaptability coefficient and the vehicle running safety coefficient meet preset decision conditions, determining that the collaborative algorithm based on the decision is reliable.
8. The simulation testing device of the intelligent network-connected vehicle cooperative algorithm is characterized in that the device is integrated with various simulation software and comprises:
the configuration unit is used for respectively carrying out interface configuration on the plurality of simulation software based on an intelligent network vehicle cooperative algorithm to be tested to obtain an input configuration interface and an output configuration interface which are respectively corresponding to the plurality of simulation software;
the selection unit is used for selecting a target scene matched with the intelligent network vehicle cooperative algorithm from a preset scene library based on the category corresponding to the intelligent network vehicle cooperative algorithm;
the simulation unit is used for performing scene simulation test on the intelligent network vehicle collaborative algorithm based on the target scene and the input configuration interface and the output configuration interface which are respectively corresponding to the plurality of simulation software to obtain scene simulation data;
the analysis unit is used for carrying out statistical analysis on the scene simulation data based on the evaluation index corresponding to the intelligent network vehicle cooperative algorithm to obtain index data corresponding to the intelligent network vehicle cooperative algorithm;
and the determining unit is used for determining the reliability evaluation result of the intelligent network-connected vehicle cooperative algorithm based on the index data.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the computer program when executed by the processor implements the steps of the method of any one of claims 1 to 7.
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| CN117520624B (en) * | 2024-01-05 | 2024-04-12 | 青岛海信信息科技股份有限公司 | Configuration and calculation method and device for big data index |
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