CN212569458U - Software in-loop platform for automatic driving algorithm simulation test - Google Patents
Software in-loop platform for automatic driving algorithm simulation test Download PDFInfo
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Abstract
The utility model relates to an automotive automation control technical field specifically is a software is at ring platform for autopilot algorithm simulation test, including external device, emulation platform and test environment, external device and emulation platform connect test environment jointly, external device includes the test vehicle, be equipped with signal acquisition equipment, the control unit and transmission unit in the test vehicle car, signal acquisition equipment includes sensor, camera and navigation receiving module, signal acquisition equipment signal output is connected with the control unit, the control unit is connected with transmission unit. The utility model discloses the test is nimble, and complicated road conditions recurrence is simple, and recurrence efficiency is high, and the test cost is low, can test to the subsystem of driving algorithm, is favorable to shortening development cycle.
Description
Technical Field
The utility model relates to an automobile automation control technical field specifically is a software is at ring platform for autopilot algorithm simulation test.
Background
At present, with the breakthrough of the navigation technology and the 5G communication technology in China and the development of the supporting subject of the automatic driving technology, the automatic driving becomes the leading edge and the new target of the automobile industry. In order to ensure the safety of the development of the unmanned technology and serve as a long-term stable platform of the unmanned technology, the construction of a test frequency platform is particularly important. However, the traditional test platform is built by a live path and a vehicle-mounted sensor. The scheme is expensive, the investment is large, but the measurable data is low in abundance, the variety is few, and the measurable information is weak.
In addition, the conventional test platform has low reproducibility. The conditions of repeated experiments of some problems cannot be manually controlled or cannot be easily controlled, such as the test of a driving system in thunderstorm weather, road damage and strong wind environment; other experimental conditions are also unlikely to be actually measured by conventional means from developed logic, such as body damage, sensor failure, etc.
In addition, the traditional test platform needs to depend on a real vehicle and a complete driving system and algorithm, and cannot be adjusted in advance, for the traditional test platform, it is meaningless to test a part of driving systems or a driving system under development, and for a subsystem module, the testing capability is lacked, and the development period is long.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a software for autopilot algorithm simulation test is at ring platform to solve the problem that proposes in the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme:
the utility model provides a software is at ring platform for autopilot algorithm simulation test, includes external device, simulation platform and test environment, external device and simulation platform connect test environment jointly, external device is including the test vehicle, be equipped with signal acquisition equipment, the control unit and transmission unit in the test vehicle car, signal acquisition equipment includes sensor, camera and navigation receiving module, signal acquisition equipment signal output is connected with the control unit, the control unit is connected with the transmission unit.
Preferably: the road element library comprises all or part of traffic signs, various road types, barriers, construction elements, building facilities and static natural environments, wherein the various road types comprise all or part of straight roads, curves, slopes, bridges and tunnels, the construction elements comprise construction road condition adjustment and construction road damage elements, and the static natural environments comprise mountains, rivers, various plants and landforms.
Preferably: the traffic dynamic data comprises all or partial contents of dynamic natural environment, dynamic traffic, dynamic weather, sports creatures, critical road conditions, pedestrians, vehicle information and traffic control information, wherein the dynamic weather comprises climate, temperature, humidity and weather conditions, the vehicle information comprises traffic flow quantity, traffic jam conditions and whether accident scenes are set or not, the critical road conditions comprise natural disasters and scene settings of artificial accidents, and the traffic control information comprises all or partial contents of network traffic information, traffic information prediction, indicator lights and traffic police real-time command.
Preferably: the motion path of the test vehicle in the test environment can be planned by a simulation platform or can be controlled by third-party software or hardware in real time.
Preferably: the test results of the simulation platform include an algorithm evaluation module that employs one or more of likelihood estimation and entropy estimation.
The utility model has the advantages that: the simulation test platform under the design can be used for carrying out automatic driving test at a lower cost, and through the construction of the virtual driving platform, various environment data information which cannot be controlled by a real environment or needs high cost can be reproduced in a man-made controllable manner, so that the reproduction means is flexible, the cost is low, and the efficiency is high; and meanwhile, the combination of the static map and the dynamic data improves the simulation degree. The test of the main vehicle can be controlled by accessing a simulator of a third party in a mode of combining software and hardware, and can also be used for functional test in a mode of selecting trajectory planning.
In addition, because the virtual simulation technology can minimize the loss, and meanwhile, the data interaction is real-time and direct, and the parameter calculation and analysis can be directly carried out, the platform can also be used for testing the functions and the realization effects of the automatic driving subsystem or part of modules, and can be debugged in the process of developing the driving algorithm or the driving system, thereby reducing the possible curve to be taken and shortening the development period.
Drawings
Fig. 1 is a schematic diagram of the system platform according to the present invention;
FIG. 2 is a schematic diagram of a test environment construction process according to the present invention;
fig. 3 is a schematic view of the contents of the road element library of the present invention;
fig. 4 is a schematic view of the traffic dynamic data content in the present invention.
In the figure: 100. externally connecting equipment; 101. testing the vehicle; 102. a signal acquisition device; 103. a control unit; 104. a transmission unit; 200. a simulation platform; 300. testing the environment; 400. high-precision dynamic maps; 500. a road element library; 501. traffic identification; 502. a plurality of road types; 503. an obstacle; 504. construction elements; 505. a building facility; 506. a static natural environment; 600. traffic dynamic data; 601. a dynamic natural environment; 602. dynamic traffic; 603. dynamic weather; 604. moving the living being; 605. critical road conditions; 606. a pedestrian; 607. vehicle information; 608. traffic control information.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1-4, the present invention provides a technical solution:
the utility model provides a software is at ring platform for autopilot algorithm simulation test, including external device 100, simulation platform 200 and test environment 300, external device 100 and simulation platform 200 connect test environment 300 jointly, external device 100 includes test vehicle 101, test vehicle 101 is equipped with signal acquisition equipment 102 in the car, control unit 103 and transmission unit 104, signal acquisition equipment 102 includes the sensor, camera and navigation receiving module, signal acquisition equipment 102 signal output is connected with control unit 103, control unit 103 is connected with transmission unit 104.
The road element library 500 includes all or part of the contents of traffic signs 501, various road types 502, barriers 503, construction elements 504, building facilities 505, and static natural environments 506, the various road types 502 include all or part of the contents of straight roads, curves, slopes, bridges, tunnels, the construction elements 504 include construction road condition adjustment and construction road damage elements, and the static natural environments 506 include mountains, rivers, various plants, and landforms.
The traffic dynamic data 600 includes all or part of contents of a dynamic natural environment 601, dynamic traffic 602, dynamic weather 603, a moving creature 604, a critical road condition 605, pedestrians 606, vehicle information 607 and traffic control information 608, the dynamic weather 603 includes climate, temperature, humidity and weather conditions, the vehicle information 607 includes the number of traffic streams, traffic congestion conditions and whether accident scenes are set, the critical road condition 605 includes scene settings of natural disasters and man-made accidents, and the traffic control information 608 includes all or part of contents of network traffic information, traffic information prediction, indicator lights and traffic police real-time commands.
The motion path of the test vehicle 101 in the test environment 300 can be planned by the simulation platform 200 or controlled by a third-party software or hardware in real time.
The test results of the simulation platform 200 include an algorithm evaluation module that employs one or more of likelihood estimation and entropy estimation.
Referring to fig. 2, an environment building process of software for an autopilot algorithm simulation test on a ring platform is characterized in that: the process at least comprises the following steps:
firstly, importing a high-precision static map 400 and a road element library 500, and editing a static scene according to a formulated test flow and standard;
secondly, importing the edited static scene into traffic dynamic data 600, and editing the dynamic scene by adding data types and parameters according to successive measurement requirements;
thirdly, planning a test environment by integrating the virtual driving test scene in the two steps, planning a driving path and a driving state of the test vehicle 101, introducing the external equipment 100 through the transmission unit 104 and connecting the external equipment with the simulation platform 200, or planning the driving state of the test vehicle 101 in real time through third-party equipment and running in real time through the simulation platform 200;
and fourthly, carrying out the test, and repeating the three steps for different test purposes and test modules each time.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. A software-in-loop platform for automated driving algorithm simulation testing, comprising an external device (100), a simulation platform (200) and a testing environment (300), characterized in that: external equipment (100) and simulation platform (200) connect test environment (300) jointly, external equipment (100) are including test vehicle (101), test vehicle (101) are equipped with signal acquisition equipment (102), the control unit (103) and transmission element (104) in the car, signal acquisition equipment (102) are including sensor, camera and navigation receiving module, signal acquisition equipment (102) signal output is connected with the control unit (103), the control unit (103) are connected with transmission element (104), constitute the input of test environment (300) includes high accuracy dynamic map (400), road element storehouse (500) and traffic dynamic data (600).
2. The software-in-the-loop platform for automated driving algorithm simulation testing of claim 1, wherein: the road element library (500) comprises all or part of contents of traffic signs (501), multiple road types (502), barriers (503), construction elements (504), building facilities (505) and static natural environments (506), wherein the multiple road types (502) comprise all or part of contents of straight roads, curves, slopes, bridges and tunnels, the construction elements (504) comprise construction road condition adjustment and construction road damage elements, and the static natural environments (506) comprise mountains, rivers, plants and landforms.
3. The software-in-the-loop platform for automated driving algorithm simulation testing of claim 1, wherein: the traffic dynamic data (600) comprises all or part of contents of dynamic natural environment (601), dynamic traffic (602), dynamic weather (603), moving creatures (604), critical road conditions (605), pedestrians (606), vehicle information (607) and traffic control information (608), wherein the dynamic weather (603) comprises climate, temperature, humidity and weather conditions, the vehicle information (607) comprises the number of traffic streams, traffic jam conditions and whether accident scenes are set, the critical road conditions (605) comprises scene settings of natural disasters and artificial accidents, and the traffic control information (608) comprises all or part of contents of network traffic information, traffic information prediction, indicator lights and traffic police real-time command.
4. The software-in-the-loop platform for automated driving algorithm simulation testing of claim 1, wherein: the motion path of the test vehicle (101) in the test environment (300) can be planned by the simulation platform (200), or can be controlled by third-party software or hardware in real time.
5. The software-in-the-loop platform for automated driving algorithm simulation testing of claim 1, wherein: the test results of the simulation platform (200) include an algorithm evaluation module that employs one or more of likelihood estimation and entropy estimation.
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| CN201922085908.8U CN212569458U (en) | 2019-11-28 | 2019-11-28 | Software in-loop platform for automatic driving algorithm simulation test |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111007738A (en) * | 2019-11-28 | 2020-04-14 | 天津卡达克数据有限公司 | Software in-loop platform for automatic driving algorithm simulation test |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111007738A (en) * | 2019-11-28 | 2020-04-14 | 天津卡达克数据有限公司 | Software in-loop platform for automatic driving algorithm simulation test |
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