CN117215213A - 5G-CV2X virtual-real fusion simulation experiment platform based on digital twinning - Google Patents
5G-CV2X virtual-real fusion simulation experiment platform based on digital twinning Download PDFInfo
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Abstract
The invention belongs to the technical field of intelligent transportation, and particularly relates to a 5G-CV2X virtual-real fusion simulation experiment platform based on digital twinning. In order to restore test results of a real automobile in different V2X scenes, the invention provides a digital twin simulation experiment platform based on 5G-CV2X, wherein the simulation platform uses an ROS robot technology and 5G-CV2X vehicle-mounted equipment, and meanwhile, the platform has the capability of autonomously completing the test and the information interaction process between the real automobile and the vehicle-mounted equipment, and the data is uploaded to the digital twin platform by using 5G. The digital twin technology is introduced to realize virtual-real combination, so that real-time data sharing and action mapping of a real physical vehicle model and a twin platform virtual vehicle are realized, and the platform can rapidly, efficiently and truly reflect the running process and test result of the vehicle in a V2X scene.
Description
Technical Field
The invention belongs to the technical field of intelligent transportation, and particularly relates to a 5G-CV2X virtual-real fusion simulation experiment platform based on digital twinning.
Background
In recent years, intelligent network automobiles have rapidly developed, the internet of vehicles industry has developed to drive into a fast traffic lane, and V2X (Vehicle to Everything, wireless communication of vehicles) has been largely promoted from pilot demonstration to commercial use. At present, a great deal of time and cost are still required to test the V2X algorithm so as to ensure the safety and reliability of the V2X algorithm. The adoption of the real road test has the problems of high cost, long time consumption, incapability of safely reproducing extreme traffic conditions and dangerous scenes and the like. So that the V2X simulation test is widely considered to be extremely important in advance by the academia and industry.
However, existing simulation test platforms also stay with pure software simulation and simple smart car model sand table simulation. Because 1) parameters of the software simulation platform and the vehicle model are preset and lack autonomy, and the test process is completed by the software, the actual running effect of the program cannot be truly presented and visual experience is lacking; 2) Simple intelligent vehicle sand table simulation vehicle model is single and has limited hardware performance, and most of the simple intelligent vehicle sand table simulation vehicle model adopts LORA, WIFI, bluetooth and other modes to simulate communication processes, and lacks information interaction processes with V2X vehicle-mounted equipment. Therefore, a simulation test platform with higher autonomy, flexibility and real V2X vehicle-mounted equipment information interaction function is needed. With the development of related technologies such as artificial intelligence and the like, an ROS-based automatic driving simulation vehicle model is gradually a key tool for V2X algorithm design, verification and evaluation by virtue of safety, controllability and repeatability.
ROS (Robot Operating System) is an open source robotic operating system based on a distributed architecture. The automatic control algorithm can be realized by carrying sensors such as laser radar, cameras, GPS and the like, and comprises path planning, perception, decision making, control and the like. Based on the ROS automatic driving simulation vehicle model, various real V2X vehicle intersection scenes can be realized autonomously; and realizing information interaction between the real BSM data and the vehicle-mounted V2X equipment by utilizing a communication mechanism of the ROS operating system. The system provides a safe, economical and controllable vehicle model for V2X simulation testing.
Meanwhile, the ROS operating system has extremely strong expansibility and is widely applied to the field of automatic driving. Unmanned platforms such as early hundred degrees Apollo, autoware, udacity were developed based on ROS systems. ROS, by virtue of flexible architecture, rich sensors, open-source algorithm libraries, and data recording and playback functions, make it an ideal choice for automated driving algorithm development and testing. The method provides a complete and powerful framework for developers, and can quickly iterate and verify algorithms, thereby accelerating the advancement of the autopilot technology.
In view of this, how to overcome the defects of the existing V2X simulation test platform, such as lack of autonomy and expansibility, lack of information interaction process with the vehicle-mounted V2X device, lack of test environment oriented to real road network, and the like, is a problem to be solved in industry.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides a 5G-CV2X virtual-real fusion simulation experiment platform based on digital twinning.
In order to achieve the technical purpose and the technical effect, the invention is realized by the following technical scheme:
the invention provides a digital twinning-based 5G-CV2X virtual-real fusion simulation experiment platform which comprises an operation table, an ROS mobile robot sand table, V2X vehicle-mounted equipment and a digital twinning display platform;
the console is a PC end containing an ROS operating environment;
the ROS mobile robot sand table comprises an ROS mobile robot and a flat plate, wherein the ROS mobile robot is used for replacing a real automobile, and the flat plate is used for simulating the on-board central control display of the real automobile;
the V2X vehicle-mounted equipment is used as a key unit in the whole framework and is arranged on the ROS mobile robot; the V2X vehicle-mounted equipment, the ROS mobile robot and the flat plate form a complete vehicle model together;
the digital twin display platform consists of a server and a constructed web end twin model; the simulation experiment platform relies on the ROS mobile robot to replace a real automobile, can realize switching of various vehicle models and vehicle specifications by editing the ROS robot program, constructs a real V2X application scene through autonomous navigation of one or more robots, and then maps the real V2X application scene into a digital twin model through numbers.
Further, in the digital twinning-based 5G-CV2X virtual-real fusion simulation experiment platform, the vehicle model switching is completed through an operation console, and the vehicle model switching of automobiles, taxis, trucks, minivans and buses can be realized.
Further, in the digital twinning-based 5G-CV2X virtual-real fusion simulation experiment platform, the operation platform is connected through wifi to operate the initialization of the ROS mobile robot and the V2X equipment, and the autonomous navigation function of the ROS mobile robot and the equipment running state feedback are edited.
Further, in the digital twinning-based 5G-CV2X virtual-real fusion simulation experiment platform, the ROS mobile robot sand table completes a preset scene through autonomous navigation, and risk information transmitted by the V2X vehicle-mounted equipment is displayed on a flat plate.
Further, in the digital twinning-based 5G-CV2X virtual-real fusion simulation experiment platform, the V2X vehicle-mounted equipment is mainly responsible for acquiring simulation vehicle information sent by the ROS mobile robot in real time through TCP/IP communication, receiving other vehicle information sent by other vehicle models through a DSRC protocol, reproducing an information interaction process of a real vehicle and the vehicle-mounted V2X equipment, analyzing and calculating the information, and executing an early warning algorithm to be tested to execute corresponding danger early warning.
Further, in the digital twinning-based 5G-CV2X virtual-real fusion simulation experiment platform, if the early warning requirement is met, the V2X vehicle-mounted equipment sends prompt information to a flat plate, and finally the summarized data message is packaged and sent to a server through a 5G network.
Further, in the digital twin-based 5G-CV2X virtual-real fusion simulation experiment platform, the digital twin display platform can construct a real road network-oriented test environment and receive analog BSM vehicle data and early warning data sent by different V2X vehicle-mounted devices, the digital twin display platform structurally comprises a server and a web end, a real road network model is constructed at the web end, vehicle information is displayed in real time through network communication, and vehicle on-line conditions, running tracks and speed information in the whole platform are monitored.
The beneficial effects of the invention are as follows:
1. the invention uses 5G-V2X (Vehicle to Everything) and ROS technology as technical supports of the whole control system. The ROS mobile robot can simulate various real physical vehicle dynamics models, and a V2X test scene is constructed in an ROS autonomous navigation mode, so that the complete information interaction process of the V2X test scene and real automobiles and vehicle-mounted V2X equipment is automatically completed. The platform not only can realize the switching of different vehicle models, but also has the ROS system very similar to an automatic driving system, has complete path planning, sensing, decision making, control and other processes, can be quickly deployed into an automatic driving algorithm development and test platform through adjustment, and can quickly iterate and verify the algorithm, thereby accelerating the propulsion of an automatic driving technology.
2. And through the combination of the ROS robot and the 5G-V2X vehicle-mounted equipment, the real automobile is simulated to carry the vehicle-mounted V2X equipment, and the information interaction process of the real automobile and the vehicle-mounted V2X equipment is reproduced. The wireless communication mode adopting CV2X (dedicated short-range communication technology) has the characteristics of rapid information transmission and high information transmission reliability.
3. The digital twin technology is introduced into the platform, and real-time data sharing and action mapping of the ROS physical vehicle model and the twin platform virtual vehicle are carried out, so that the real road network is completely mapped in real time in the whole period, and the running process and the test result of the vehicle in the V2X scene can be reflected rapidly, efficiently and truly by the platform. The 5G technology is adopted in the real-time interaction process with the twin platform, and the characteristics of high speed, low delay and wide connection are adopted as the latest generation of wireless communication technology, so that the real-time performance of the twin platform in the whole period is ensured.
Of course, it is not necessary for any one product to practice the invention to achieve all of the advantages set forth above at the same time.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the virtual-to-real mapping process of the present invention;
FIG. 2 is a diagram of the overall architecture of the system of the present invention;
FIG. 3 is a simulation platform workflow diagram of the present invention;
FIG. 4 is a schematic diagram of the overall implementation architecture of the present invention.
Detailed Description
The following description of the embodiments of the present invention 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 invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order to restore test results of a real automobile in different V2X scenes, the inventor designs a digital twin simulation experiment platform based on 5G-CV2X, the simulation platform is consistent with the conditions of the real automobile and road and the real automobile and vehicle-mounted V2X equipment, and the 5G is used for uploading data to the digital twin platform. The digital twin technology is introduced to realize virtual-real combination, so that real-time data sharing and action mapping of a real physical vehicle model and a twin platform virtual vehicle are realized, and the platform can rapidly, efficiently and truly reflect the running process and test result of the vehicle in a V2X scene.
The related embodiments of the invention are:
example 1
A5G-CV 2X virtual-real fusion simulation experiment platform based on digital twinning comprises an operation table, an ROS mobile robot sand table, V2X vehicle-mounted equipment and a digital twinning display platform.
The console is a PC-side that contains the ROS operating environment. The operation console operates the initialization of the ROS mobile robot and the V2X equipment through wifi connection, and edits the autonomous navigation function and the equipment running state feedback of the ROS mobile robot.
The ROS mobile robot sand table comprises an ROS mobile robot and a flat plate, wherein the ROS mobile robot is used for replacing a real automobile, and the flat plate is used for simulating the on-vehicle central control display of the real automobile. The ROS mobile robot sand table completes a preset scene through autonomous navigation, and risk information transmitted by the V2X vehicle-mounted equipment is displayed on a flat plate.
V2X onboard devices are installed on ROS mobile robots as a key unit in the overall architecture. The V2X vehicle-mounted device, the ROS mobile robot and the flat plate together form a complete vehicle model. The V2X vehicle-mounted equipment is mainly responsible for acquiring simulated vehicle information sent by the ROS mobile robot in real time through TCP/IP communication, receiving other vehicle information sent by other vehicle models through a DSRC protocol, analyzing and calculating the information, executing an early warning algorithm to be tested and executing corresponding danger early warning. If the warning requirement is met, the V2X vehicle-mounted equipment sends the prompt information to the flat plate, and finally the summarized data message is packaged and sent to the server through the 5G network.
The digital twin display platform is composed of a server and a constructed web-end twin model. The simulation experiment platform relies on the ROS mobile robot to replace a real automobile, can realize switching of various vehicle models and vehicle specifications by editing the ROS robot program, constructs a real V2X application scene through autonomous navigation of one or more robots, and then maps the real V2X application scene into a digital twin model through numbers. The digital twin display platform displays vehicle information in a real road network twin platform built at a web end through network communication, and monitors the on-line condition, the driving track and the speed information of the vehicle in the whole platform. The digital twin display platform receives the analog BSM vehicle data and the early warning data sent by different V2X vehicle-mounted devices, and analyzes and counts the data.
In this embodiment, the vehicle model includes an automobile, a taxi, a truck, a minivan, and a bus model.
In this embodiment, the overall implementation architecture of the platform is shown in fig. 4.
The embodiment also provides an experimental method of the 5G-CV2X virtual-real fusion simulation experiment platform based on digital twinning, as shown in FIG. 3, which comprises the following steps:
s1, firstly starting an ROS mobile robot and vehicle-mounted V2X equipment, checking whether communication between the ROS mobile robot and the vehicle-mounted V2X equipment is normal, and providing a safe and controllable environment for testing;
s2, loading scene map information for navigation in the ROS operation system, wherein the scene map information comprises scene information for verifying a V2X algorithm and position information of multiple robots.
And S3, realizing an automatic navigation algorithm through a sensor carried by the robot, and realizing V2X test scenes such as rear-end collision, lane changing, intersection and the like between vehicles according to autonomous navigation of a preset target point.
S4, monitoring information such as the position, the speed, the direction and the like of the robot in real time through a program by utilizing a communication mechanism in the ROS operation system, adjusting the information in equal proportion to real automobile running data, and packaging and transmitting simulated vehicle BSM data in real time according to a DSRC protocol and a data format required by V2X equipment.
S5, receiving the simulation BSM data sent in real time, uploading the simulation BSM data to a digital twin server by 5G, extracting the required data according to different V2X scene algorithms, and displaying early warning information on the vehicle-mounted central control equipment if the algorithm is met.
And S6, mapping vehicle information in the real road network in real time by the digital twin platform according to the server data, and realizing real-time data sharing and action mapping of the real physical vehicle model and the twin platform virtual vehicle.
S7, the real traffic environment is reproduced in a high-fidelity mode through the virtual-real simulation test platform, the advantages of the ROS mobile robot and the digital twin are complementary, and the more complex traffic scene is simulated through virtual-real interaction, wherein the traffic scene comprises key performance index analysis, effect analysis, real-time vehicle data visualization and the like. And the user optimizes and adjusts the algorithm through a real-time reaction test process.
S8, automatically navigating to the target point. The user may manually intervene before the end, take over control for an emergency or too far from the actual expectations. The twin platform realizes the digital mapping of the whole period of the physical vehicle model, and greatly improves the visual quality and the authenticity of the test.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (7)
1. The utility model provides a 5G-CV2X virtual reality fuses simulation experiment platform based on digit twin which characterized in that: the system comprises an operation table, an ROS mobile robot sand table, V2X vehicle-mounted equipment and a digital twin display platform;
the console is a PC end containing an ROS operating environment;
the ROS mobile robot sand table comprises an ROS mobile robot and a flat plate, wherein the ROS mobile robot is used for replacing a real automobile, and the flat plate is used for simulating the on-board central control display of the real automobile;
the V2X vehicle-mounted equipment is used as a key unit in the whole framework and is arranged on the ROS mobile robot; the V2X vehicle-mounted equipment, the ROS mobile robot and the flat plate form a complete vehicle model together;
the digital twin display platform consists of a server and a constructed web end twin model; the simulation experiment platform relies on the ROS mobile robot to replace a real automobile, can realize switching of various vehicle models and vehicle specifications by editing the ROS robot program, constructs a real V2X application scene through autonomous navigation of one or more robots, and then maps the real V2X application scene into a digital twin model through numbers.
2. The digital twinning-based 5G-CV2X virtual-real fusion simulation experiment platform of claim 1, wherein: the vehicle model switching is completed through the operation platform, and the vehicle model switching of automobiles, taxis, trucks, minivans and buses can be realized.
3. The digital twinning-based 5G-CV2X virtual-real fusion simulation experiment platform of claim 2, wherein: and the operation console operates the initialization of the ROS mobile robot and the V2X equipment through wifi connection, and edits the autonomous navigation function of the ROS mobile robot and the equipment running state feedback.
4. The digital twinning-based 5G-CV2X virtual-real fusion simulation experiment platform of claim 3, wherein: the ROS mobile robot sand table completes a preset scene through autonomous navigation, and risk information transmitted by the V2X vehicle-mounted equipment is displayed on a flat plate.
5. The digital twinning-based 5G-CV2X virtual-real fusion simulation experiment platform is characterized in that: the V2X vehicle-mounted equipment is mainly responsible for acquiring simulated vehicle information sent by the ROS mobile robot in real time through TCP/IP communication, receiving other vehicle information sent by other vehicle models through a DSRC protocol, reproducing the information interaction process of a real vehicle and the vehicle-mounted V2X equipment, analyzing and calculating the information, executing an early warning algorithm to be tested and executing corresponding danger early warning.
6. The digital twinning-based 5G-CV2X virtual-real fusion simulation experiment platform is characterized in that: if the V2X vehicle-mounted equipment meets the early warning requirement, the V2X vehicle-mounted equipment sends prompt information to a flat plate, and finally the summarized data message is packaged and sent to a server through a 5G network.
7. The digital twinning-based 5G-CV2X virtual-real fusion simulation experiment platform is characterized in that: the digital twin display platform can construct a real road network-oriented test environment and receive analog BSM vehicle data and early warning data sent by different V2X vehicle-mounted devices, is structurally composed of a server and a web end, is used for constructing a real road network model at the web end, displaying vehicle information in real time through network communication, and monitoring vehicle on-line conditions, running tracks and speed information in the whole platform.
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